[robocup-legged] New robot in the Standard Platform League

[Thomas Röfer]

Hi,

> Hi Thomas, Dear Teams,
> 
> On Wed, 15 Aug 2007, Thomas Röfer wrote:
> 
> > Hi,
> >
> > actually there is a mistake in the document. There are four DOF in
> each arm,
> > not three. Otherwise, it would not add up to 21 DOF.
> 
> Actually 6, and not 5, DoF in each leg would make much more sense
> for robotic soccer with humanoid robots than 4, instead of 3, DoF in
> the
> arms. This is what my and many other teams in the humanoid robot league
> are using.

The joint in the pelvis is a replacement for that. It allows to "open" and
"close" the legs, resulting in exactly the motion patterns you need to
rotate the robots. At least the walking engine of my humanoid team
hard-wires the two servos you speak of in exactly that way. So having only
one motor instead of two seems not to be such a bad idea. Of course, it is
hard to do that in a servo-only design.

- Thomas