Team Description Paper : Darmstadt Dribblers & Hajime Team ( KidSize ) and Darmstadt Dribblers ( TeenSize )

This paper describes the hardware and software design of the three humanoid robot systems of the Darmstadt Dribblers and Hajime Team in KidSize and TeenSize. The robots are used as a vehicle for research in control of locomotion and behavior of humanoid robots and robot teams with many degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of dynamics in motion and autonomous behavior as the problem of generating and maintaining statically or dynamically stable bipedal locomotion is predominant for all types of vision guided motions during a soccer game. A new modular software architecture has been developed for efficient and effective implementation and test of modules for sensing, planning, behavior, and actions.