TUlip

Name: TUlip
Rating: 3.6 (197 reviews)

A humanoid with an electronics filled torso the shape of an upside down triangle, a silver head with sensors and two large black ears that stick out of the top of its head. It has two basic silver arms, one of which is raised. It's legs are posed dynamically such that it is balanced on one leg which is thrust out to the left, while leaning to the right. — TUlip celebrates a goal. Photo: David Joosten

TUlip is a human-size humanoid designed as a platform to study bipedal locomotion and gait control. Which is just another way of saying the robot is used to play soccer in RoboCup competitions.

Creator

Delft University of Technology

Year

2008

Country

The Netherlands 🇳🇱

Categories

Features

Walking and balancing tests. Video: Dutch Robotics

Did you know?

TUlip is equipped with foam and composite body armor to protect it during rough games.

A bipedal robot is seen in a multiple exposure image kicking a soccer ball. — TUlip practices for a RoboCup match. Photo: David Joosten

Close-up of a blue disc with many circles cut out of it and metal wires around it. — The robot is powered by 16 motors. Photo: Boris Lenseigne

Specs

Overview: Equipped with compliant force-controlled actuators. Able to walk on uneven terrain and adjust to external forces.
Status: Inactive
Year: 2008
Website: tudelft.nl
Width: 40 cm
Height: 130 cm
Length: 19 cm
Weight: 20 kg
Speed: 1.44 km/h
Sensors: Stereo camera, IMU, ground contact sensors, rotary encoders in each joint.
Actuators: 12 Maxon 60-W brushed DC motors and four Dynamixel servomotors.
Degrees of Freedom (DoF): 16 (Head: 2 DoF; Arm: 1 DoF x 2; Leg: 6 DoF x 2)
Materials: Aluminum structure and hard plastic covers.
Compute: 1 GHz single board computer
Software: Xenomai Linux OS. RoboFrame middleware and custom control software.
Power: Three 3.7-V 3.3-Ah lithium-polymer batteries and eight 3.7-V 2.0-Ah lithium-polymer batteries for the actuators, 30 minutes of operation
Cost: $30,000 (cost of materials)