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.