Motion Analysis and Control of the Ball Operation for Dribbling Action in RoboCup Soccer Robot

Chikushi, Shota; Weerakoon, Tharindu; Ishii, Kazuo; Sonoda, Takashi

doi:10.1109/scis-isis.2016.0117

Cited by 8 publications

(5 citation statements)

References 1 publication

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“…The use of a motor as the main actuator in the dribbling mechanism is an active dribbling concept. The basic part that needs to be understood is that if the ball makes contact with a field that has a tensile strength that exceeds the friction force between the ball and the floor, then the ball will follow that field [6]. It can only happen if the motor has enough torque to make the ball spin and provide a greater force compared to the force produced by the ball and the floor.…”

Section: A Related Workmentioning

confidence: 99%

“…How to get better control Junkai, Chenggang, Junhao, Kaihong and Huimin proposed to combine feedback control and feedforward control, in this case they use physical model as feeforward control and use sliding mode as feedback control. In another research, Jeroen de Best and Rene van de Molengraf have implemented single proportional gain as feedback control and mechanical design geometrical calculation in order to get feedforward control [6].…”

Section: A Related Workmentioning

confidence: 99%

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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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Section: A Related Workmentioning

confidence: 99%

Section: A Related Workmentioning

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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“…While the ball rotates on the flat surface, the ball angular velocity vector ��⃗ exists on the plane defined by the three points; the center of the ball and the contact points C R and C L [17]- [18]. The normal vector � �⃗ ⊥ of the plane is obtained as in eq.…”

Section: Inverse Kinematicsmentioning

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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“…The competition consists of five autonomous robots that play soccer with standard regulations from FIFA and in 2050 aims to fight humans. [5], [6] In the Robocup Middle Size League match, each robot has the ability to play soccer like a human starting from guarding the goal, kicking the ball, dribbling and deflecting the ball [7]. From one of these abilities, there is a problem with the unnatural dribbling system that causes violations in the robot that holds the ball at all times and does not comply with the rules of the game [1].…”

Section: Introductionmentioning

confidence: 99%

Ball Dribbling Control For Soccer Robot

Soebhakti,

Shodiq,

Hasmar

et al. 2024

Proceedings of the 6th International Conference on Applied Engineering, ICAE 2023, 7 November 2023, Batam, Riau Islands, Indone

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This paper details the ball dribbling control system in the robocup middle-size league competition. The research aims to find the best method for natural robot ball dribbling. Initially, design calculations derive a dribbling mechanism adhering to robocup rules. The mechanism must flexibly accommodate translational or rotational robot movements for natural dribbling. The PID control method regulates the dribble motor response, sustaining ball dribbling at varying speeds or when the robot is at rest. The results section presents ball dribbling responses across trials of different robot movements and speeds.

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Motion Analysis and Control of the Ball Operation for Dribbling Action in RoboCup Soccer Robot

Cited by 8 publications

References 1 publication

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

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

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

Ball Dribbling Control For Soccer Robot

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