Robo-Erectus Junior – AX (REJr-AX)

Robo-Erectus Junior (REJr) version of humanoid robots are completely fabricated and developed at Advanced Robotics and Intelligent Control Centre (ARICC) of Singapore Polytechnic. REJr is one of the foremost leading soccer playing humanoid robots in the RoboCup Humanoid League. REJr won the 2nd place in the Humanoid Walk competition at the RoboCup 2002 and got 1st place in the Humanoid Free Performance competition at the RoboCup 2003. In 2004, REJr won the 2nd place in Humanoid Walk, Penalty Kick, and Free Performance. The latest version of Robo-Erectus Junior is Robo-Erectus Jr AX (REJr-AX). In RoboCup 2007 humanoid junior leagues, REJr-AX finished 6th on the 2 vs 2 games, and 3rd on the technical challenge.

The development of REJr-AX has gone through many stages either in the design of its mechanical structure, electronic control system and gait movement control. REJr-AX has been designed to cope with the complexity of a 2 versus 2 soccer game. It has three processors each for vision, artificial intelligence and control. The platform is equipped with three sensors: an USB camera to capture images, a tilt sensor to detect a fall, and a compass to detect their direction. The servomotors used send back the feedback data including angular positions, speed, voltage, and temperature. To communicate with its teammates, REJr-AX uses a wireless network connected to the artificial intelligence processor.

The vision processor performs recognition and tracking of objects of interest including ball, goal, field lines, goal post teammate and the opponents based on a blob finder based algorithm. The further processing of detected blobs, wireless communications and decision making are performed by the artificial intelligence processor which selects and implements the soccer skills (e.g. walking, ball passing, kicking, diving….) the robot is to perform. Finally, the control processor handles the low level control of motor based on the soccer skill selected by the artificial intelligence processor. It is powered by two high-current Lithiumpolymer rechargeable batteries, which are located in each foot. Each battery cell has a weight of only 110g providing 12v which means about 15 minutes of operation.

 
Physical Specifications of Robo-Erectus Junior – AX (REJr-AX) 

 

   
Untitled Document © Advanced Robotics & Intelligent Control Centre 2009