RoboCup encourage the development of a humanoid robot on the mechanical aspects, vision, and interaction. To achieve the vision of RoboCup 2050, the rule changes gradually. RoboCup rules changes in 2015 to encourage the development of the mechanical structure and vision humanoid robot. Robots must have the ability to walk on uneven grass surface and supple. In conditions of unstable foothold robot should be able to kick the ball. Other rule changes are a reduction in the number of colors differentiating objects on the field such as the ball and the goal of both white base color. It encourages the development of image processing and object recognition based on a combination of colors and patterns. Shape pattern that is processed into a feature with the statistical approach so that the object can be identified and recognized. In the event RoboCup 2016 in Leipzig, Robot EROS play until the quarter-final round. In the last match defeated by Robo-Erectus, Singapore. During the preliminary round EROS team has always managed to put the ball into the net with a small amount compared to the ability of the previous year. Walking speed is slower because the playing surface is not flat and the grass is high enough. The diameter and weight of the ball great distances decrease kicking and ability to dribble slowed. In robot vision systems sometimes fail to recognize the ball and the goal.

Object recognition system by combining the colors and forms of harassment which exist around the field such as the two people in the audience wearing a white shirt and stand in line with a certain distance. The vision system identifies the object and is recognized as a goalkeeper, so the ball was kicked toward the object. In all of the matches on Leipzig 2016, EROS couldn’t kick the ball as far as usual, it is because of the servos performance has been decreased. Therefore, the first development is currently focused on mechanical system, how to make a mechanical system that could kick the ball faster and robust on walking, Secondly is the vision system on the process of object segmentation to reduce the misidentification of the object with the background colors and shapes are similar. This paper structured as follows, an explanation of the system that has been developed previously, followed by the development of mechanical systems that include mechanical structures and hardware systems and actuators in the third part. Section four describes the approach taken in the vision system is followed by an overview of the system of coordination between robots. In the final section we discuss the results of the development that has been done and that will be executed to obtain a more optimal result and statement of commitment to participate in the RoboCup 2017 Nagoya, Japan.