The 6th Workshop on Humanoid Soccer Robots  

 Invited Talk

Stephen McGill, Seung-Joon Yi, and Daniel D. Lee, University of Pennsylvania

Team Darwin: Open Source Humanoid Robot Hardware and Software

The Darwin-OP is new open source humanoid robot platform that provides freely available
hardware plans and software. Team Darwin from the Univ. of Pennsylvania and Virginia
Tech developed an embedded software framework that handles low-level hardware device
interfaces and high-level behaviors in a hierarchical and portable manner. Our software
architecture has currently been implemented on four separate humanoid robot platforms
as well as on a physically realistic simulator, and was the basis for our Robocup humanoid
robot soccer teams. We will also show how this platform can be used for a variety of
research and collaborative humanoid robot tasks.

                Humanoids 2011 Conference