Extensions of a RoboCup soccer software framework

Abstract

The RoboCup soccer leagues have greatly benefitted Team DARwIn and the UPennalizers. The stiff competition has hardened our code into a robust framework, and the community has allowed it to flourish as an open source project used by many teams. Working with the open source DARwIn-OP hardware allows even more clairvoyance into the inner workings on the low level code the builds to state machines. We show how our codebase performs in the Webots simulation and on the Open Source DARwIn-OP platform. From these beginnings, we wish to apply our codebase to new scenarios for humanoids including human robot interaction and manipulation tasks. Many of these scenarios are explored by other RoboCup leagues including @Home and Rescue, where we see a new avenue for our codebase. New human robot interaction features are described in our framework, and example performances are demonstrated. Finally, we describe added standards compliance and open source tool usage that will give our codebase more accessibility. © 2014 Springer-Verlag Berlin Heidelberg.