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MOS-9 Open Documentation

MOS-9 is an open-source robot project for the RoboCup humanoid soccer scenario. This documentation covers the complete chain from robot design to deployment:

  • Mechanical and electrical design
  • Motor communication and inter-process communication
  • Simulation models and motion data
  • Motion control and Sim2Real
  • Development environment and test validation

Documentation Structure at a Glance

  • Project Background: RoboCup background, team experience, and project positioning.
  • System Overview: Overall software and hardware architecture of the robot.
  • Mechanical Design: Configuration design, motor selection, structural design, materials and manufacturing, and assembly.
  • Electrical System: Circuit design and PCB production workflow.
  • Communication System: Motor CAN communication, inter-process communication, and the Robot IPC framework.
  • Simulation Models and Data: Simulation model construction, file format conversion, and motion data processing.
  • Motion Control: Optimization-based control, reinforcement learning, AMP/Mimic, system identification, and Sim2Real.
  • Development Guide: Environment setup, test tools, and validation scripts.
  • FAQ: Frequently asked questions.
  • Conclusion

Intended Readers

  • Robotics beginners: can quickly build a system-engineering understanding by following the reading path.
  • Research and competition teams: can reuse the communication, simulation, control, and testing workflows.
  • Engineering developers: can refer to the module decomposition and real-robot validation methods described in the documentation.