Kinematics of Two-Roller-Driven Ball for RoboCup Soccer Robot
- 10.2991/jrnal.2017.4.3.15How to use a DOI?
- RoboCup, kinematics of two-roller-drive ball controller, ball control mechanism
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.
- © 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/).
Cite this article
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 -