  This article describes the design and development of robotic prototypes for
robotic soccer competitions using Dynamixel motors. Although the prototypes are
not aimed at world-class competitions, they represent a significant step in the
development of sports robots. Model XL430-W250 Dynamixel motors were chosen and
electronic circuits were implemented using control boards such as OpenCR and
Raspberry Pi 3. A crucial component was introduced: a step-up board that
charges a capacitor to create a powerful kick to the ball via anelectromagnet
controlled by Arduino Nano. The programming and coordination of the prototypes
was carried out using the ROS environment (Robot Operating System), which
allows effective integration of movements and communication. Although the
prototypes were not optimized for global competition, they underwent extensive
testing, evaluating their speed and maneuverability, as well as soccer tactics
in the GRSim simulator. These prototypes contribute to the further development
of sports robotics and illustrate the research potential in this exciting area.
