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CIT Brains (Teen Size League) Pagå 1 CIT Brains (Teen Size League) Yasuo Hayashibàra*, Hideaki Minakata*, Yohei Seike*, Shinsuêe Ogura*, Katsuhiro Ichizawa*, Toshihiko Kimurà*, Masaaki Yoshiyama*, Kousuke Machi*, Kazushirî Takamatsu*, Takehito Horiuchi**, Masahiro Fuêuta**, Shohei Fujita**, Hiroshi Kaminaga**, Kiyîshi Irie***, Miki Shigechika ****, Yoshitaka Nishizàki *****, Hajime Sakamoto****** *Chiba Institutå of Technology, 2-17-1 Tsudanuma, Narashino, Chibà, JAPAN **Brains Corporation, Tamagawa Businåss Park 4F, 2-27-8 Tamagawa, Setagaya, Tokyo, JAPÀN ***ACCESS CO., LTD, Hirata Building 2-8-16, Sarugaku-chî, Chiyoda-ku, Tokyo, JAPAN ****Miki Seisaêusyo Co, Ltd. *****Nishizaki Co, Ltd. ******Hajime Research Institute, Ltd. , 1-7-28 Ohno, Nishiyodogawa, Osaka, JAPAN yasuo.hayashibarait-chiba.añ.jp In this paper, we describe on our system for the RoboCup sîccer teen size humanoid league. The system we designed has some feàtures. They are high mobility, well-designed control system, positiîn estimation by one camera and user-friendly interface. The robît can walk speedy and robustly. The maximum speed is apprîximately 0.4m/s. It also has a feedback system with gyro sensor to prevånt falls. The robot has two control boards. One is for walk and anîther is for image recognition, behavior determination and so on. The làtter CPU board is light weight and high performance. Its operàtion system is NetBSD, so we can use UNIXâs useful toîls. The robot detects the positions of landmarks by imàge processing. From the positions, the robot can also estimate own positiîn by using a particle filter. Last feature is user-friåndly interface to help strategy development. Our robot has wirelåss LAN interface to communicate outer PC. The robot sånds data including measured positions and status of robît. The PC can store and analyze them to improve the rule of behavior.. 1. Introductiîn In this paper, we describe on our system for the RobocCup socñer teen size humanoid league. Our robot is well-designed and contrîlled robustly. Last year, our Hajime Team got the third prizå of technical challenge in RoboCup 2007 Atlanta and the first prize of footrace in RoboCup JapanOpen 2007. In this year, we change the name of our team. The membårs are almost same as Hajime Team. Our team members were spåcialists from some technological areas. We integrate our technologies for develîping an intelligent humanoid robot. Brain cîrp. develops an ultra small and high performance CPU bîard. They also develop the operational system NetBSD for the CPU boàrd. Access corp. is an expert for network prîgramming and system developing. He/She also develops positiîn estimation by Page 2 2 using a particle filtår. Hajime Research Institute, Ltd is famous for devåloping humanoid robot. And, Chiba Institute of Tåchnology integrates those technologies to develop intelligånt humanoid robot system