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

DOI

10.2991/jrnal.2017.4.3.15How to use a DOI?

Keywords

RoboCup, kinematics of two-roller-drive ball controller, ball control mechanism

Abstract

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.

Copyright

© 2013, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - JOUR
AU  - Shota Chikushi
AU  - Tharindu Weerakoon
AU  - Takashi Sonoda
AU  - Kazuo Ishii
PY  - 2017
DA  - 2017/12/01
TI  - Kinematics of Two-Roller-Driven Ball for RoboCup Soccer Robot
JO  - Journal of Robotics, Networking and Artificial Life
SP  - 248
EP  - 253
VL  - 4
IS  - 3
SN  - 2352-6386
UR  - https://doi.org/10.2991/jrnal.2017.4.3.15
DO  - 10.2991/jrnal.2017.4.3.15
ID  - Chikushi2017
ER  -