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SUSTAINA-OP™: Kid-Sized Open Hardware Platform Humanoid Robot with Emphasis on Sustainability

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RoboCup 2023: Robot World Cup XXVI (RoboCup 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14140))

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Abstract

This paper presents the approach to designing and constructing SUSTAINA-OP™, a robot developed to participate in the RoboCup Humanoid League KidSize. The robot was developed as a humanoid hardware platform with the objective of overcoming the barrier of high hardware development costs associated with participation in the RoboCup Humanoid League. The concept of this platform is to create a “sustainable” system that is user-friendly for both new participants and software developers who employ multiple robots, facilitating long-term development. To achieve this, our design focused on enhancing robustness, minimizing resources required for repair and maintenance, and increasing versatility. Moreover, the system is equipped with a high-performance System-on-Module to support software development, considering the growing importance of deep learning-based recognition and other applications. The robot featured in this paper was utilized by the CIT Brains team from Chiba Institute of Technology, which emerged victorious in the Humanoid League of RoboCup2022. The data for the developed robot is available on GitHub.

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References

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Acknowledgement

In the development of a novel hardware platform humanoid robot, SUSTAINA-OP™, we would like to thank the members of CIT Brains for their great cooperation. In particular, Mr. Hiroki Noguchi was in charge of the system development by introducing NVIDIA® Jetson Xavier™ NX, Mr. Riku Yokoo was in charge of introducing the MIPI SCI-2 I/F camera, and Mr. Satoshi Inoue was in charge of the 4-parallel servo motor communication control, for which we express our profound appreciation. We would also like to thank Mr. Gaku Kuwano for constructing a strategy in soccer competitions that fully demonstrates the capabilities of SUSTAINA-OP™. In addition, we would like to thank Mr. Naoki Iwasawa and Mr. Kiyoshiro Kawanabe, who manufactured the mechanical components of SUSTAINA-OP™ with us and provided us with feedback on the design.

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Authors and Affiliations

  1. Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan

    Masato Kubotera & Yasuo Hayashibara

Authors
  1. Masato Kubotera
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  2. Yasuo Hayashibara
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Corresponding author

Correspondence to Masato Kubotera .

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Editors and Affiliations

  1. ENIB/Naval Group Pacific, Plouzané, France

    Cédric Buche

  2. University of Naples Federico II, Naples, Italy

    Alessandra Rossi

  3. Bahia State University, Salvador, Brazil

    Marco Simões

  4. University of Miami, Coral Gables, FL, USA

    Ubbo Visser

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Kubotera, M., Hayashibara, Y. (2024). SUSTAINA-OP™: Kid-Sized Open Hardware Platform Humanoid Robot with Emphasis on Sustainability. In: Buche, C., Rossi, A., Simões, M., Visser, U. (eds) RoboCup 2023: Robot World Cup XXVI. RoboCup 2023. Lecture Notes in Computer Science(), vol 14140. Springer, Cham. https://doi.org/10.1007/978-3-031-55015-7_14

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  • DOI: https://doi.org/10.1007/978-3-031-55015-7_14

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-55014-0

  • Online ISBN: 978-3-031-55015-7

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