Bruno

A black two-legged robot labelled Bruno kicks a orange ball on a miniature soccer field.
Bruno is a striker for the Darmstadt Dribblers team. Photo: Katrin Binner

Bruno is a small soccer-playing robot that can run, kick, and pass. Since 2008, it has been helping the Darmstadt Dribblers become one of the deadliest teams in the RoboCup soccer tournament.

Creators

Hajime Research Institute and TU Darmstadt

Year
2010
Country
Germany 🇩🇪
Categories
Features
The skillful Darmstadt Dribblers. Video: IEEE Spectrum

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Appearance

Neutral

Did you know?

Bruno has been introduced to German Chancellor Angela Merkel. They remain friends.

A black robot kicks an orange ball.
An early prototype, built in 2006. Photo: Katrin Binner
Two black robots on miniature soccer field look at an orange ball.
The team during a match in 2007. Photo: Katrin Binner

Specs

Overview

Capable of running with a dynamic gait, standing up after falls, and faking shots.

Status

Inactive

Year

2010

Website
Width
28 cm
Height
58.5 cm
Length
15 cm
Weight
3.3 kg
Speed
1.55 km/h (max)
Sensors

Camera, three gyroscopes, three-axis accelerometer.

Actuators

18 Dynamixel RX-28 actuators and three RX-64 actuators.

Degrees of Freedom (DoF)
21 (Leg: 6 DoF x 2; Arm: 3 DoF x 2; Waist: 1 DoF; Neck: 2 DoF)
Materials

Mostly aluminum; some parts made with rapid-prototyping methods.

Compute

CompuLab fit-PC2 with Intel Atom 1.6 GHz and Renesas SuperH 7211 160 MHz microcontroller

Software

Voyage Linux OS with RT-Preempt real-time patch. Custom software developed in C++ and XABSL.

Power

2100-mAh lithium-polymer battery, 30 minutes of operation

Cost
€15,000 (estimated hardware cost; not for sale)