University of Freiburg / Faculty of Applied Sciences /
Institute for Computer Science / Humanoid Robots / NimbRo / Paper

 "Toni: A Soccer Playing Humanoid Robot"
Authors
 		 Sven Behnke, Jürgen Müller and Michael Schreiber
In Proceedings of

In

 

 The 9th RoboCup International Symposium, Osaka, Japan, paper #97, July 2005.

Itsuki Noda, Adam Jacoff, Ansgar Bredenfeld, and Yasutake Takahashi, editors, RoboCup-2005: Robot Soccer World Cup IX, pp. 59-70, Lecture Notes in Artificial Intelligence, LNAI 4020, Springer, 2006.
Abstract

This paper describes the humanoid robot Toni that has been designed to play soccer in the RoboCup Humanoid League. The paper details Toni's mechanical and electrical design, perception, self localization, behavior control, and infrastructure.
Toni is fully autonomous, has a low weight (2.2kg), and is much taller (74cm) than most servo-driven humanoid robots. It has a wide field of view camera, ample computing power, and wireless communication.
Toni possesses basic soccer skills. It walks dynamically in all directions (up to 20cm/s in forward direction) and turns on the spot. It perceives the ball and the goals and localizes itself on the field. Toni is able to approach the ball and to dribble it. It can kick the ball without falling.
We performed tests in our lab and penalty kick demonstrations at Robo\-Cup German Open 2005. Toni's successors Jupp, Sepp, and Max performed well at the RoboCup 2005 Humanoid League competitions.
BibTeX @Inproceedings{behnke05d,
  author    = {Sven Behnke and Jürgen Müller and Michael
               Schreiber},
  title     = {Toni: A Soccer Playing Humanoid Robot},
  booktitle = {RoboCup-2005: Robot Soccer World Cup IX},
  series    = {Lecture Notes in Artificial Intelligence},
  volume    = {LNCS 4020},
  pages     = {59--70},
  year      = {2006},
}
Paper RS05_Toni.pdf (670kB)