In this paper, we describe the concept, design and implementation of a series of autonomous mobile soccer robots, named ldquoMusashirdquo robot, which have safety design which is based on ISO and a mechatronics modular architecture, to participate in the RoboCup middle-size league. In modularity design methodology, we show that the selection of a proper moving mechanism, a suitable vision system and a mechatronics modular architecture design can lead to realize a reliable, simple, and low cost robot comparing with most of car-like robots including many kinds of sensors and a complex design structure.
['Yasunori Takemura', 'Yu Ogawa', 'Amir Ali Forough Nassiraei', 'Atsushi Sanada', 'Yuichi Kitazumi', 'Ivan Godler', 'Kazuo Ishii', 'Hiroyuki Miyamoto', 'Ahmad Ghaderi']
Concept of mechatronics safety and modularity design for an autonomous mobile soccer robot