Figure 1. PERSIA Humanoid Robot in Robocup IranOpen2010 Competition-Design and Implementation of an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller

<p>In this paper, we will at first describe the general hardware design of the PERSIA Humanoid<br> Robocup Team, (section 2) and after that focus on our scientific approaches in sensor fusion and<br> learning (section 3). Finally, section 4 concludes this paper. This document describes the current<br> state of the project as well as the intended development for the RoboCup 2010 competition.</p>