ISocRob - Years 1 and 2

In the first two years of the team, the players were (almost) exclusively made up of socrob's: a home built platform. For Robocup'99 a Scout was aquired, having stolen the spotlight (it scored all but one of the goals). The experience aquired proved invaluable, and a necessary step to adding a more robust feeling to the present scout team.

Figure 1. Top: Looking good	Figure 2. Front: Here I go!
Figure 3. Taking SocRob for a spin...	Figure 4. Evolution of the SocRob platform

Specifications

• Motherboard: 200MHz AMD-K6, 32MB RAM, 1.2GB disk, 10Mbps Ethernet;
• Vision: Philips CCD camera, Broktree Bt848 based frame grabber;
• Communications: Aaron Wireless Ethernet Modem at 2.4GHz and 2.4835GHz;
• Motorization: Custom-made motor controllers based on LM629 PID-controller and LM18200 H-bridge, 500-pulse encoders from HP, and two small motors (with gearbox) in differential drive topology;
• Power: Two 12V 7Ah batteries, one for motors and kicker, and the other for the motherboard and extra lightweight electronics, through a DC/DC converter (input: 12V, output: +5V, -5V, +12V, -12V, all regulated);
• Kicker: Custom-made, based on two automobile central-lock pistols, IR emitter and receiver to detect ball contact.

Parenthood

• Pedro Aparício: Original hardware design and implementation, helped with the software;
• Rodrigo Ventura: Original software design and implementation, helped with the hardware;
• Carlos Marques: Hardware improvements and maintenance for RoboCup'99.