The University of Pennsylvania Robocup 2004 Legged Soccer Team
This paper presents the software design for a team of soccer playing robots developed at the Univ. of Pennsylvania for the 2004 Robocup competition. The software was a port and slight modification from the 2003 competition code. Lower level sensory and motor functions were first prototyped in Matlab. High level behaviors and team coordination were implemented using an embedded Perl interpreter. The robots’ walk parameters were optimized using a hill climbing routine. These developments allowed the development of the team that ultimately resulted in a fourth place finish at the international competition.