Journal of Bionic Engineering

, Volume 5, Supplement 1, pp 121–129 | Cite as

A System Design Concept Based on Omni-Directional Mobility, Safety and Modularity for an Autonomous Mobile Soccer Robot

  • Yasunori TakemuraEmail author
  • Yu Ogawa
  • Amir A. F. Nassiraei
  • Atsushi Sanada
  • Yuichi Kitazumi
  • Ivan Godler
  • Kazuo Ishii
  • Hiroyuki Miyamoto


In this paper, we describe the concept, design and implementation of a series of autonomous mobile soccer robots, named Musashi robots, which are designed referring ISO safety standards and have mechatronics modular architecture. The robots are designed to participate in the RoboCup Middle Size League. Using a modular design philosophy, we show that the selection of a proper moving mechanism, a suitable vision system and a mechatronics modular architecture design can lead to the realization of a reliable, simple, and low cost robot when compared with most car-like robots that include many kinds of sensors and have a complex design structure.


entertainment robotics mechanism design wheeled robot 


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Copyright information

© Jilin University 2008

Authors and Affiliations

  • Yasunori Takemura
    • 1
    Email author
  • Yu Ogawa
    • 1
  • Amir A. F. Nassiraei
    • 1
  • Atsushi Sanada
    • 1
  • Yuichi Kitazumi
    • 1
  • Ivan Godler
    • 2
  • Kazuo Ishii
    • 1
  • Hiroyuki Miyamoto
    • 1
  1. 1.Kyushu Institute of TechnologyKitakyushu, FukuokaJapan
  2. 2.The University of KitakyushuKitakyushu, FukuokaJapan

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