Extensions of a RoboCup Soccer Software Framework

  • Stephen G. McGill
  • Seung-Joon Yi
  • Yida Zhang
  • Daniel D. Lee
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8371)


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.


State Machine Obstacle Avoidance Humanoid Robot Manipulation Task Zero Moment Point 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Stephen G. McGill
    • 1
  • Seung-Joon Yi
    • 1
  • Yida Zhang
    • 1
  • Daniel D. Lee
    • 1
  1. 1.University of PennsylvaniaUSA

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