Team of Autonomous Four-Legged Robots Playing Soccer
The development of a successful team of cooperating autonomous,
four-legged robots in a dynamic environment
requires significant research in
motion control (running, standing up, turning, kicking etc. with four legs),
perception (real-time image processing, self and object localisation etc.),
and behavior control (searching for or tracking the ball, behaviors for attackers, defenders and goalie, cooperative team behaviors etc.).
The RoboCup scenario of competing teams of autonomous robots
provides a research challenge in this field.
The teams participating in the Sony Legged Robot League
must face additional difficulties not present in the other
small and middle size leagues whose custom-made robots locomote on wheels.
For example, there is no global vision system available.
Furthermore, the hardware of all robots is identical
(neither camera system nor other parts may be changed).
Finally, it is much more difficult to implement
fast and stable robot locomotions on legs than on wheels.
In 2001 the German Team has been founded as a cooperative effort
of several German universities to meet the many challenges
through cooperative and distributed development.
The Darmstadt Dribbling Dackels is the RoboCup Team of the TU Darmstadt
which participates in the Sony Legged Robot League and in the German Team.
It was founded in May, 2001.
AVI file (96 MB),
MPEG file (11 MB)
Much more and more recent videos can be found
at the media page of the Darmstadt Dribbling Dackels.
For more and recent publications
see the list of publications.
Brunn, R., Doeffert, U., Juengel, M., Laue, T., Loetzsch, M.,
Petters, S., Risler, M., Ruefer, T., Spiess, K., Sztybryc, A.:
In: RoboCup 2001. Lecture Notes in Artificial Intelligence.
Springer-Verlag (2001) in press.
Preprint: PDF file.
Burkhard, H.-D., Doeffert, U., Juengel, M., Loetzsch, M.,
Koschmieder, N., Laue, T., Röfer, T., Spiess, K., Sztybryc, A.,
Brunn, R., Risler, M., von Stryk, O.:
GermanTeam 2001 - Technical Report.
Technical Report of the German United RocoCup-Team in the Sony Legged Robot League,
Technische Universität Darmstadt (2001).
Preprint: PDF file.
Fachgebiet Simulation und Systemoptimierung, TU Darmstadt