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Three Humanoid Soccer Platforms: Comparison and Synthesis.
Shivaram
Kalyanakrishnan, Todd Hester, Michael
Quinlan, Yinon Bentor, and Peter
Stone.
In Jacky Baltes, Michail G. Lagoudakis, Tadashi Naruse, and Saeed Shiry Ghidary, editors, RoboCup 2009: Robot
Soccer World Cup XIII, pp. 140–152, Springer Verlag, 2010.
[PDF]379.0kB [postscript]5.3MB
In this article, we provide an overview of three humanoid soccer platforms currently in use at RoboCup: 3D simulation, the humanoid Standard Platform League (SPL), and the Webots-based simulator released with the SPL. Although these platforms trace different historical roots, today they share the same robot model, the Aldebaran Nao. Consequently, they face a similar set of challenges, primary among which is the need to develop reliable and robust bipedal locomotion. In this paper, we compare and contrast these platforms, drawing on the experiences of our team, UT Austin Villa, in developing agents for each of them. We identify specific roles for these three platforms in advancing the overarching goals of RoboCup.
@incollection{LNAI09-kalyanakrishnan-2,
author = "Shivaram Kalyanakrishnan and Todd Hester and Michael Quinlan and Yinon Bentor and Peter Stone",
title = "Three Humanoid Soccer Platforms: Comparison and Synthesis",
booktitle = "{R}obo{C}up 2009: Robot Soccer World Cup {XIII}",
editor = "Jacky Baltes and Michail G. Lagoudakis and Tadashi Naruse
and Saeed Shiry Ghidary",
Publisher="Springer Verlag",
year = "2010",
pages="140--152",
abstract = {
In this article, we provide an overview of three humanoid soccer
platforms currently in use at RoboCup: 3D simulation, the humanoid
Standard Platform League (SPL), and the Webots-based simulator released
with the SPL. Although these platforms trace different historical
roots, today they share the same robot model, the Aldebaran Nao.
Consequently, they face a similar set of challenges, primary among
which is the need to develop reliable and robust bipedal locomotion. In
this paper, we compare and contrast these platforms, drawing on the
experiences of our team, UT Austin Villa, in developing agents for each
of them. We identify specific roles for these three platforms in
advancing the overarching goals of RoboCup.
},
}
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