A Distributed Embedded Control Architecture for Humanoid Soccer Robots

This paper presents an embedded control architecture developed for a soccer-playing humanoid robot, namely Robo-Erectus Junior. Robo-Erectus is a project developed in the Advanced Robotics and Intelligent Control Centre of Singapore Polytechnic that will participate in the KidSize category in the Humanoid League of RoboCup 2007. The Robo-Erectus project has reached a new stage with this latest version of the robot. The new mechanical, electronic design, and embedded control architecture are described in this paper. The limitations of size force us to implement this architecture in an embedded network. The features of this new version are described in detail focusing on the modules of gait generation, vision, behaviour control, and communication.