Figure 4. (a)Our Humanoid soccer robot, (b) Overview of the Control System-Design and Implementation of an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller

Figure 4 shows the block diagram of the software which runs in the robot’s main processor.
The program consists of 4 main blocks:
• Hardware Interface: Contains all low level routines to access hardware of the robot including
sensors and actuators.
• Vision: Contains image processing algorithms such as recognition of landmarks and other
object. Self localization is done using particle filtering. Particles are scored by comparing a
simulated image from each particle with the current frame captured by camera. Using
“Sampling-Importance Resampling” method, a new distribution of the particles is created after
each step.
Particles are also updated using a motion model. Final distribution of the particles converges to
the real pose of the robot.
• Planning: Planning system of the robot is based on a multi layer, and multi thread structure.
The layers are named Strategy, Role, Behavior and Motion. Each layer contains a Scenario
which runs in parallel with the scenarios in the other layers. A scenario in a higher level can
terminate and change the scenario running in the lower level; however it is usually done in
synchronization with the lower level scenario to avoid conflicts and instabilities. (Such as
stopping the walking motion while one of the feet is still in the air).
• Network: Mainly responsible for the wireless communication of the robot with the other robots
or the referee box. This is done via WLAN.
• Motion Control: manages all the actuators of the robot, and controls locomotion or any other
action of the robot according to the requests from Cognition.
• Sensor Control: manages other sensors, and interacts with the Sub-Controller.