An active ball handling mechanism for RoboCup

Best, Jeroen de; Molengraft, René van de

doi:10.1109/icarcv.2008.4795848

Cited by 10 publications

(3 citation statements)

References 2 publications

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“…Regarding its size, the ball control mechanism is restricted not to cover more than one-third of the ball [6]. The RoboCup team Tech United developed the mechanism using two rollers and a solenoid kicker which can keep the ball and select loop-pass or grounder-pass [7]- [9]. The RoboCup team CAMBADA developed using two omnirollers and shows the similar function [10].…”

Section: Hardware Design and Concept Of A Two-rollerdriven Ballmentioning

confidence: 99%

Kinematics of Two-Roller-Driven Ball for RoboCup Soccer Robot

Chikushi¹,

Weerakoon²,

Sonoda³

et al. 2017

JRNAL

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RoboCup is a competition designed to promote the research related to Artificial Intelligence (AI). We have also organized a RoboCup soccer team "Hibikino-Musashi" and work on one of AI research topics, co-operated behavior control system using multiple autonomous mobile robots. In order to realize co-operated behavior in the soccer game, the research of ball handling system is one of the important issues capable of dribbling with a ball and passing the ball to teammate robots. In this paper, the kinematics of a two-roller-drive ball controller, which are attached in front of the soccer robot and designed to have friction on the upper side of the ball, is proposed. The forward and inverse kinematics between the ball-motion and two active rollers are derived, and the ball control mechanism has been developed and evaluated based on the results of simulations and experiments.

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Section: Hardware Design and Concept Of A Two-rollerdriven Ballmentioning

confidence: 99%

Kinematics of Two-Roller-Driven Ball for RoboCup Soccer Robot

Chikushi¹,

Weerakoon²,

Sonoda³

et al. 2017

JRNAL

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“…The competition focuses on artificial intelligent development and robotics technology. Thus, robot soccer creates various developments to improve the ability of robots to be able to play soccer as well as humans [2]. Like a human soccer player, a robot soccer must also have the skills possessed by soccer players, one of which is a dribbling technique [3].…”

Section: Introductionmentioning

confidence: 99%

Implementation of Feedforward and Feedback Control for Active Handling and Dribbling System in MSL Robot Soccer

Ardilla¹,

Mas'udi²,

Wibowo³

2019

Int. J. Adv. Sci. Eng. Inf. Technol.

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Ball handling and dribbling are basics soccer techniques. Therefore, handling and dribbling mechanism becomes important component for MSL (Middle Size League) robot soccer. The implementation of active handling and dribbling systems aims to enable the robot to perform dribbling mechanism when maneuvering, while in idle position use handling mechanism. Feedforward and feedback applied as control method in active ball handling and dribbling system. Feedforward control method will give a response to the dribbler wheel based on the motion of robot movement against x, y, and θ axes. Whereas, Feedback control method applied fuzzy inference system by reading the displacement of the arm angle from sensor databased on angle reference of dribbler arm to keep the ball in an ideal position. Implementation geometric calculation for feedforward control toward x, y, and θ axes movement of the robot that it has resulted RMSE value for left motor is 5.75 and for right motor is 7.01. Fuzzy inference system method is used as a feedback control to manipulate the speed and direction of wheel's rotation as a result ball remains in the ideal position. The value of arm angle displacement and the combination of the two-dribbler arms are used as input for fuzzy inference system. The results of this research show that the application of the combined feedforward and feedback control methods in active handling and dribbling systems can provide robot-dribbling capabilities. Consequently, the robot has a good ability in handling and dribbling mechanism.

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“…In [5], a handling system is addressed in which two wheels are used to provide friction to make the wheels keep in touch with the ball. The architecture of control system has two levels.…”

Section: Introductionmentioning

confidence: 99%

A robust adaptive linear control for a ball handling mechanism

Jahandari

Beyglou

Kalhor

et al. 2014

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

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In this paper, a novel robust adaptive control design for a general class of Single-Input Single-Output (SISO) nonlinear time-varying systems is delineated. To this end, for a ball handling mechanism, a systematic approach is presented to modify solutions of the arm target angle tracking problem in this robot. Initially, a virtual model of simplified ball handling mechanism is sketched in MSC-ADAMS. Afterwards, assuming there is no priori knowledge about the dynamics of the system except its order, a brand new suggested online linearization technique based on Recursive Least Squares (RLS) method is applied inorder to identify the plant and to derive an Adaptive Linear Regression (ALR) model for the system. Concentrating on this pseudo linear form, an extended sliding mode controller, established upon Lyapanuv theory, is designed and developed step by step. Multifarious simulations were performed and results clearly demonstrated the privilege and effectiveness of the proposed approaches.

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An active ball handling mechanism for RoboCup

Cited by 10 publications

References 2 publications

Kinematics of Two-Roller-Driven Ball for RoboCup Soccer Robot

Kinematics of Two-Roller-Driven Ball for RoboCup Soccer Robot

Implementation of Feedforward and Feedback Control for Active Handling and Dribbling System in MSL Robot Soccer

A robust adaptive linear control for a ball handling mechanism

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