With 22 DOF, GeNUS is able to closely simulate the locomotion of a human. The fusion of sensors provides valuable information about the environment to 2 Digital Signal Processors (DSP). Based on the collected information, the DSPs then determine the appropriate actions to be taken. Besides being aimed at performing efficiently in a soccer playing environment, it also serves as a platform for various research purposes.
GeNUS has a total of 22 DOF. It has 6 on each leg, 3 at the hip, 1 at the knee and 2 at the ankle. GeNUS, encompasses 22 actuators, 2 DSPs for decision making, a tilt sensor and a vision sensor for sensing, and a Wi-Fi module for communication between robots.
Visual information is obtained from a vision sensor mounted on the head. A digital compass allows GeNUS to track its orientation in a soccer field. The on board WIFI module allows GeNUS to communicate with its fellow teammates.
Developed in 2006, GENUS is an autonomous humanoid robot developed using technologies used in MANUS; GENUS can be seen as an improvised version of MANUS. GENUS is a well-package compact design humanoid robot which comprises of additional joints in the body which allow the robot to have great flexibilities when performing task. GENUS is able autonomously play soccer where the robot can act as a striker or a goalkeeper. As striker, GENUS is capable of locating the ball, moving at fast pace to the ball and aiming into the direction of the opponent’s goal. If the robot is tackle and fell, it is able to recover itself. As a goalkeeper, GENUS can do diving save when necessary and similarly recover back into an upright position after the save. In additional GENUS is also able to pick up objects, balance on a single leg and dance. GENUS uses an open architecture software platform where sensor fusion, trajectory planning, gait generation, intelligence control, genetic algorithm and dynamics walking studies are conducted.
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