TUlip

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

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Appearance

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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
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)