文献类型：期刊文献

英文题名：The design and implementation of soccer robot for RoboCup Middle Sized League

作者：Li, Wei[1,2]; Wang, Huifeng[1]; Asplund, Lars[2]

机构：[1] East China University of Science and Technology, Meilong Road NO.130, 200237, Shanghai, China; [2] M?lardalen University, Vasagatan NO.44, 72215, V?ster?s, Sweden

年份：2011

卷号：122 LNEE

起止页码：345

外文期刊名：Lecture Notes in Electrical Engineering

收录：EI(收录号：20114814560651)

语种：英文

外文关键词：Software testing - Program debugging - Robot applications - Sports - Machine design

摘要：This paper mainly illustrates the background and development of soccer robot for RoboCup Middle Sized League, and puts more emphasis on both hardware and software design for the soccer robot based on the microcontroller AT90CAN128. In the hardware design, the sensor module is implemented by high precision laser range finder and electric compass for robot self-localization; USB-CAN converter are designed in the communication module; based on the introduction of main chips in use and workflow of the system, the two most important actuator in the soccer robot are designed separately, including motor module and kicking module. According to the hardware above, the software design shows the working flow of each module, including the laser ranger finder and electric compass in the sensor module, the transition mechanism between USB protocol and CAN protocol and easy-to-use bootloader for AT90CAN128 debugging online. The test shows both hardware and software designs for the soccer robot work well. ? 2011 Springer-Verlag.