OS22-3 Ball Dribbling Control for RoboCup Soccer Robot

Title:	OS22-3 Ball Dribbling Control for RoboCup Soccer Robot
Publication:	ICAROB2017
Volume:	22
Pages:	416-420
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2017.OS22-3
Author(s):	Shota Chikushi, Tharindu Weerakoon, Takashi Sonoda, Kazuo Ishii
Publication Date:	January 19, 2017
Keywords:	RoboCup, ball-wheel kinematics, ball handling mechanism
Abstract:	RoboCup is a platform designed to promote the research related to Artificial Intelligence (AI) and robotics. We also organize a RoboCup soccer team "Hibikino-Musashi" and working on co-operated behavior control system using multiple autonomous mobile robots. In order to realize co-operated behavior in the soccer game, the ball handling system is one of the important issues for dribbling and passing the ball to teammate robots. In this paper, a control method of the ball rotation using two active wheels, 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 wheels are derived, and the ball handling mechanism is developed and evaluated based on the results of simulations and experiments.
PDF File:	https://alife-robotics.co.jp/members2017/icarob/data/html/data/OS_pdf/OS22/OS22-3.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/

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