2021 – TDP – HfutEngine2021 – RoboCupSoccer – Simulation – 3D

In RoboCup China 2005, we came into RoboCup 3D Simulation League for the first time. Early 3D league was sphere form and we focused on the accuracy of calculation of three-dimensional physical virtual circumstance. At the same time, research of the Middleware SPADES (System for Parallel Agent Discrete Agent Simulation) was also very important. We get 10th place in RoboCup China 2005, 12th place in 2006. In 2007s, new version of server was released, which included new Fujitsu HOAP-2 simulation robot instead of old sphere robot. The new server brought many changes as well as new challenges such as, Joint Control, State Detect and etc.. After months hardwork, our team featured some new controlling ideas and its humanoid motion worked very well. HfutEngine3D got 7th in RoboCup China Open 2007 in Oct.. We also got 3rd in RoboCup Iran Open 2008 and 5th in RoboCup China Open 2008. In July 2008, we attended in RoboCup 2008 in Suzhou. It was the first time for us attended in RoboCup. We have advanced into the top 16. Later we got the 3th place in 2010 in RoboCup,and the 6th in 2012. And we got the 5th in RoboCup China Open 2017. In 2018 we reached 2rd place in RoboCup China Open. This paper introduces HfutEngine3Ds features and implementation. Section 2 briefly describes the teams main modules. Section 3 introduces some of our team’s characteristic. Section 4 tries to show our process based on Cerebellar Mode Articulation Controller to achieve a steady and fast omnidirectional walk. The last section is about our plan of future work.