37th ROBO-ONE/Light/auto Remote Competition Rules
Created on August 6, 2020, Biped Robot Association
Revised on September 7, 2020

1. The purpose of this Regulation
If the ROBO-ONE event cannot behold properly for measures to prevent infection of the newCoronavirus, the rules for the remote competition established in conjunction with the ROBOONE/ ROBO-ONE Light/ROBO-ONE auto competition rules.

2. Competition location and method
The players and robots participating in the competition use “Zoom conference system” toperform the competition specified at home or in an acting-capable isolation space, where thereferee and judges determine their victory or defeat in the preliminaries and the finals.
In accordance with the ROBO-ONE competition rules, it is not necessary for player to be
more than 30 cm away from the field, but there should be no external disturbance such as
impact on robots or dummies that could affect the examination. If it is determined that there
is an impact, the referee or the judge may be instructed to be away from there. In addition,
yellow cards or red cards may be issued.

3. Standards review
The robot standard must comply with the 37th ROBO-ONE competition rules.
Standard review of robots, the “Dummy robots”, rings, camera placement, and internet
environment are carried out “remotely”. Also, if the referee or jury deems it necessary, astandard review will be conducted before, during, or after the competition. Players who havebeen instructed to review standards by the referee or jury shall indicate in the video that judges
can confirm the indicated checks, such as weight measurement, dimensional checks, andwalking checks using measuring instruments such as weight measurement scales(units: Kg,g) and scales (units: cm).
Robots that are not compatible with the standard review will be disqualified.
Battery checks are also carried out at the player's own risk. Also, in the event of ignition, takefire prevention measures such as preparing buckets and rags with water in the competition
place.

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4. Preliminaries
４-1．ROBO-ONE Light Remote Step lift
Rules
By the robot player,
To climb up and down a 5mm step in one minute.
- To move forward or backwards. To compete performing time to climb up and down 10 times.
- The top 32 robots will advance to the finals in order of shorter performing time. If it is notpossible to decide by the time, the total number of up and down times is used.
-If robot falls during a series of ascending/descending movements, robot can get up andcontinue on the spot.
-Do not apply any tapes to the steps that go up and down.

Field
Any step(wood, acrylic, rubber, carpet, etc.) can be selected if the height is 5mm or more.
The step should be able to be measured by a measure. Mark the start position of your robot
50 cm away from the step with colored vinyl tape to visualize.
The flow of Preliminaries
The robot stands more than 50cm away to the step and starts at “start” signal of the referee.
When you start, walk to the step. After that, climb the step, walk two steps, got off the step,
and walk two steps.
You can set the attitude and orientation of the robot at the start freely.
After "Start position ->50cm walk" is over,(1) Climb and walk 2 steps(2) Get off and walk 2 steps
Repeat the above. 1-time is the pair of the end of (1), (2)"Walking two steps" except for the starting is possible on foot on the same spot.
·Penalty
Red Card: Add 10 seconds to the result. If it has not finished 10 times, it will be minus 1 time.
Yellow card: Two cards make a red card.

4-2. ROBO-ONE Remote Floor Exercise
Rules
2

The remote floor exercise performs the floor exercise qualifying remotely and evaluates it.
The robot performs on the spot. To perform more than 10 steps on the spot concerning"movement".

The gait(walking appearance) is scored.

We do not measure the time of

movement.
All grading follows “the ROBO-ONE rules of the floor exercise” but does not determine theranking according to the time.
Field
If it is difficult to prepare a large ring, it can be carried out on the table etc.
The flow of Floor Exercise
The player should call the performance name and its start. The referee replies "OK" to theplayer's call. After one performance, player moves on to the next performance with thereferee's "Next" signal. There is no need to wait for the referee's signal, and the player canproceed.
In addition, the flow of Floor Exercise follows the ROBO-ONE Competition Rules.
-Penalty
Red card: minus 1 point against the result.
Yellow card: Two cards make a red card.

4-3. ROBO-ONE auto Remote Defeat Target
Rules
Prepare the following two types of targets by player own, and your robot should identify thetarget automatically from a position 50cm away and take specified pose. This is carried out 10
times, and the top 16 robots will advance to the final in order of the highest number of goals
scored. In the case of the tie, it recognizes three times, and the winner is the one with a shorttime until the third recognition is finished.
1. Prepare a 2L(liter) plastic bottle and create a “Dummy robot” in Figure 2 with wrapped aphoto of the KHR-3V(Figure 3).
2. Prepare one other plastic bottle with green drawing paper wrapped around it. This isreferred to as a “green bottle”.
Field
Place the target at least 50 cm away from the robot.
Marking with vinyl tape in the position where the robot stands and where the target is placed
more than 50cm away.
The flow of qualifying
Start the robot and stand up and place the target at least 50cm away in front of the robot in
the order that the referee says.
31. When the “Dummy robot” is put out, walk two steps ahead(OK by stepping), punch with awaist, and return to the original position.
2. When it comes to green bottle, open your arms and stand on one leg.
If you succeed the above, each one point is added. These performances should start within
3 seconds after the target is placed. If it is not possible, it is failure or 1-point deduction.
3. Remove the “Dummy robot” or green bottle from the front of the robot and lower your arm
within 3 seconds and hold it in that state. If you are unable to hold your arm lowered, thepoint will be deducted one point.
-Penalty
Red card: minus 1 point against the result.
Yellow card: Two cards make a red card.

5. Final Tournament5-1. ROBO-ONE and ROBO-ONE Light Remote Final Tournament Rules“Dummy robots” are treated as well as regular opponents, and the match method follows the37th ROBO-ONE competition rules.
However, the following corresponds “Remotely”.
(1). The final the tournament will be a 30-second, three-round points.
Defeat the “Dummy robot” in Figure 1 with a valid attack in 30 seconds.
(2) The round shall end when you take “down”. After that, you can touch your robot or“Dummy”.
Compete round for how many points you can take in the 3 rounds.
(“Dummy robots” can be freely created by participants by referring the contents described in
Figure 1.
However, you may not use anything that has a copyright, infringes on portrait rights orviolates public order and morals.)
PointsThe normal one-down is one point. However, the “Owaza” deserves one down is two points,
and the“Owaza” deserves two downs is three points.
- If a “Owaza” is successful, you will not be able to use the same “Owaza” again during thematch. A “Owaza” that fails in a round cannot be used in that round.
Field
Marking with colored vinyl tape to visualize in the position where the robot stands and where
the target is placed 50 cm away.
The flow of the game- The competition starts from the red corner. On the left of the tournament table is a red
4

corner.
-Stand more than 50cm away from the “Dummy robot”.
-After the “Fight” calling of the referee and walk more than 3 steps to attack.
-If the “Dummy robot” down without your attack, it means that “Dummy” robot has slipped.
Follow the referee's instructions and stand up the dummy robot by your hands in that place.
However, the dummy robot shall be raised by the operator and should not be touched byanyone other than the operator, including the seconds.
Also, if you slip at the same time, you robot should get up within 10 counts as well as a slip ofa normal game.
-Rounds are performed alternately, and it ends when the victory or defeat becomes clear.
- In the case of the tie, the winner is the robot starts the competition at the same time and get“down” first.
-If there is a tie, start the competition at the same time and measure the time until you takethe down alternately, and the one who takes the down first will be the winner. However, if thenumber of seconds is the same, repeat the measurement.
-Penalty
Red card: minus 1 point against the result.
Yellow card: Two cards make a red card.
* A one-down penalty such as "acquisition of time" is equivalent to one red card at a remote
event.

5

Pleaseattachthearm

above the waist position(yellow line) and below thehead of KHR3V. There is no
problem in cutting out the
image

of

the

mounting

position of the arm.

Figure 3 KHR3V waist position
6

Designated image: robot image of KHR3V
http://bipedrobot.or.jp/upload/dbmaterials/964_9a5be5bdbe61cc18460064f15c7ce21foriginal.pdf

5-2. ROBO-ONE auto Remote Final Rules
The final tournament will be a 30-seconds, 3-round points. Defeat the “Dummy robot” witha valid attack in 30 seconds.
Compete against the dummy robot in Figure 2 to see how many points you can earn in 30
seconds and 3 rounds.
The round shall end when you took “down”. After that, you can touch the robot or “Dummy”.
Points
You can get points by taking “down” from a “Dummy robot”.
Points etc. will follow Robo-ONE/Light remote final rules.
If you defeat the green bottle, you will lose 1-point.
Field
Prepare the dummy robot and green bottle prepared in qualifying.
Start with three bodies, including your robot, set three at the top of an equilateral triangle of
50 cm or more.
The position of the dummy robot is indicated by the referee.
Marking equilateral triangles of 50cm or more per side with colored vinyl tape, etc. to visualize.
Flow of the gameThe competition starts from the red corner. On the left of the tournament table is a red corner.
The competition will be proceeded red-and-blue alternately rounds.
Start the robot with the referee's ready signal and place the robot in the opposite direction to
the target. The controller of the robot shall be in the visible position of the referee on thescreen.
The referee's first instructions will start the attack with a signal that the player will hold out
players hand in front of the robot. Start the clock (30 seconds) from this point, and the robot
attack the “Dummy robot”.
-If the “Dummy robot” down without your attack, it means that “Dummy robot” has slipped.
Follow the referee's instructions and stand up the dummy robot by your hands in that place.
However, the “Dummy robot” shall be raised by the operator and should not be touched byanyone other than the operator, including the seconds.
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Also, if your robot slips at the same time, your robot should get up within 10 counts as well asa slip of a normal game.
- If you knock down the green bottle, you do not have to put it back.
· Penalty
Red card: minus 1 point to the result.
Yellow card: Two cards make a red card.
* A one-down penalty such as "acquisition of time" is equivalent to one red card at a remote
event.

6. Special rules for remote environments
6-1. About line delay and screen freeze-If the referee and the judge cannot be judged due to line delay, it will not be recognized asvalid.
-If there is a screen freeze associated with the network environment, wait 2 minutes and if it
does not revive, the opponent's victory will be won.
-If it is revived, it will be re-start only for this round.
6-2. Camera and Mic Placement- The camera must be fixed to about 45° above the front of the robot.
-The camera should be fixed at a position where the entire competition can be seen easily.
-Camera images should be landscape screens.
- The distance is the place where the whole body of the robot enters.
- The height should be generally higher than the robot and at an angle that is easy to judge.
- Do not affect vibration during the competition.
- The position and angle of the camera may be changed by the direction of the referee or thejudges. Then, stop time at the referee's “wait” signal, change the camera position, and startwith the “fight” signal.
Prepare the length of the adjusted stand and cable so that the height and angle of the camera
can be changed. Not the PC fixed camera but a device that can be installed alone, such as a
WEB camera is desirable.
-Because it will be delivered by broadcasting, please decorate the background nicely. Also, it
is strictly prohibited to put anything that violates public order and morals within the range ofthe camera.
-Place the microphone where the operator's voice is easily heard. If it is difficult to hear, thereferee and the judge will not consider this, although it may affect the examination.
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6-3. About battery replacement-Battery replacement per round is not allowed, for smooth progress.

6-4. When the robot rings out-If the robot jumps out of the field and cannot re-start due to a step, etc., declare “ring out”
to the referee. The referee's “OK” instruction can return the robot to the field. However, if
the robot falls down, return it to the field in the collapsed state. Your robot should get up by
itself during 10 counts.
-If you violate this content, it will be treated the same as a yellow card.

6-5. When the dummy robot, green bottle or robot is entangled-If the robot and dummy robot get entangled, declare "clinch" to the referee. The referee's“OK” instruction allows the robot to be pulled apart by hand. Further, the torque can beturned off if necessary. After that, the dummy robot raises to the spot by hand. Your robot
should get up by itself during 10 counts.
-If you violate this content, it will be treated the same as a yellow card.

9

37th ROBO-ONE
21st ROBO-ONE Light
7th ROBO-ONE auto
Competition Rules

Drafted on August 6, 2020 (changes from previous version in red)

Drafted: Biped Robot Association
Inquires: bra-info@biped-robot.or.jp

Participation Flow for 37th ROBO-ONE / 21st ROBO-ONE Light / 7th
ROBO-ONE auto
The participation and attendance flow for the 37th ROBO-ONE / 21st ROBO-ONE Light / 7th
ROBO-ONE auto competition is as follows.
1) Publication of competition rules (2020/08/06)
2) Participation applications received (2020/08/31)
3) First day of the competition (2020/09/19)
・ROBO-ONE auto Standards screening
・ROBO-ONE auto Finals Tournament4) Second day of the competition (2020/09/20)
・ROBO-ONE Light Standards screening/ Preliminaries
・ROBO-ONE Light Finals Tournament5) Third day of the competition (2020/09/21)
・ROBO-ONE Standards screening/ Preliminaries
・ROBO-ONE Finals Tournament* Participant guide will be issued 10 days before the event as a guide. Please check it andjoin us. Especially the judges and the referee will check the ID card in the standards
screening, Preliminaries, and the finals tournament. Please do not forget to print and bringit.

1 Publication of competition rules
The competition rules are generally published on the official ROBO-ONE website(http://www.robo-one.com) .

2 Participation applications
Participation in ROBO-ONE/ROBO-ONE Light/ROBO-ONE auto is open to all. There are nonationality requirements.
Participation

applications

are

only

taken

on

the

official

ROBO-ONEwebsite(http://www.robo-one.com). You must register as a competitor and register to participate.
Complete the registration procedures by following the instructions on the screen. Applications
are not screened, so when building your robot be sure to read the competition rules carefully to
avoid rule infractions.
Team and robot names should be 14 letters or less.
Also, please be sure to register the photo of the robot by the day of the convention.
An operator can register one person for each robot. It is impossible for anyone other than theregistered operator to steer the robot.
Explanation 1
Robot and team names can be registered in Japanese, but you must also enter English
2names. At international competitions, the English names (letters) are used. The English
robot name should be easy to read and understand in 14 characters or less. Make sure tocheck it because it will be called in the same way as the pronunciation on the Google
translation site.

3 Standards screening
In the standards screening, robots are screened for whether they have been created in accordancewith the competition rules. The weight limits for this competition are 5 kg or less for
ROBO-ONE auto 3 kg or less for ROBO-ONE and 1 kg or less or a certified robot for
ROBO-ONE Light. Certified robots can participate in all classes if they satisfy the certified
robot standards.
If your robot fails the standards screening, you will not be able to participate in the competition,so make sure to sufficiently review the rules and standards in advance.

4 Preliminaries
ROBO-ONE's preliminaries will be done by the “floor exercise”.
Places are determined by score and time, and the top 48(maximum) robots (including the top 3
robots in the world rankings and robots certified at sanctioned tournaments) move on to the final
tournament.
In the preliminaries of ROBO-ONE Light, the robots travel 4.5 meters (subject to change
depending on the venue. In addition, preliminaries may not be carried out depending on thenumber of participants.).
In the case of course-out or time-out, you can’t participate in the final tournament.
Places are determined by the time to the goal, and the top 32(maximum) robots for
ROBO-ONE Light (including the top 3 robots in the world rankings and robots certified at
sanctioned tournaments) move on to the finals tournament.
The top 3 robots in the world rankings, robots certified at sanctioned tournaments areautomatically in the finals, but they participate in the prelims for tournament seeding purposes.
The preliminaries for ROBO-ONE auto will be “Defeat KHR”.
Places are determined by the time to defeat the standing KHR, and the top 16(maximum) robots
for ROBO-ONE auto (including the top 3 robots in the world rankings and robots certified at
sanctioned tournaments) move on to the final tournament. Robots that could not defeat thestanding KHR cannot participate in the final tournament.
The top 3 robots in the world rankings, robots certified at sanctioned tournaments areautomatically in the finals, but they participate in the prelims for tournament seeding purposes.

About ranking
The robots will be ranked after the ROBO-ONE tournament held by the Biped Robots
3

Association. ROBO-ONE preliminaries, finals and points up to 3 years ago will be added.
Please see the website for details.
<Benefit>
The robots up to 3rd in each class ranking will be applied when participating in the next
tournament.
1. The participation fee to the corresponding convention is free.
2. You can participate in the finals regardless of the preliminaries result.

About Finals participation right
The official ROBO-ONE, which will be held after the certified tournament, is entitled toparticipate in the final tournament regardless of the result of the qualifying. Rights are given to
robots and pilots. Robot and pilot changes are not permitted. However, remodeling of the robot
is permitted.
You will be awarded if you get excellent results at a certified tournament. Official tournament
entry fee will be free.

Rules of certified tournament
A certified tournament is a tournament in which a team that has achieved excellent results in thetournament is entitled to compete in ROBO-ONE's finals (Finals participation right system).
Biped robot contests in various places applies this system.
It is necessary to hold a certified referee at the certified tournament.
It is also a requirement to use the latest competition rules as of 1 month ago.
Up until now, it has been held by member companies, but now it is possible to hold an
accredited tournament by general companies and groups. Please apply from the Biped Robots
Association website. We will also introduce certified referees.

Official Referee System
It is considered as the official referee system of 3 ranks of special A grade, A grade and B grade.
At first, we examine referee in certified tournaments etc. and assume registration system.
Special Class A: You can refer to all competitions, including international matches. The referee
is required to be able to respond to players in English in the game.
Class A: You can refer to official tournaments in each country.
Class B: You can refer to certified tournaments and ROBO-ONE Light.
Those who have passed a year or more in each class, who have experienced 2 or more certified
tournaments, or who have 20 or more matches in the C-Ring can take an A grade or higher.

45 Finals Tournament
The final tournament will be held with each class of preliminary winners.
Only one robot per operator may participate in the final tournament.
The competition consists of one round of 3 minutes and an overtime of 2 minutes, depending on
the circumstances. There may be multiple overtimes, so have batteries, etc. ready.
Depending on the situation, the game time may be set to 2 minutes per round and an overtime of
1 minute without maintenance time.
Overtimes will not be performed in some cases.

ROBO-ONE Competition Rules
1

Preamble
The purpose of ROBO-ONE is to promote the fun and excitement of robots to more people. It
aims to be a robot competition that is enjoyable for spectators and highly motivating forparticipants. For this reason, it emphasizes technological prowess and entertainment value
over winning and losing.
Technical information is also released to the extent possible to promote the spread and sounddevelopment of robotic technologies.

2

About the Competition
The competition involves matches in a preset ring between biped robots created byparticipants. The decision of referees and judges determine winners and losers. The
competition consists of a tournament-style main round and a preliminary round preceding it.

3

Ring Standards and Conditions
3.1
Ring
The size of the rings is shown in Diagram 1. There are cases where the game progresses
simultaneously with two rings and the case where it progresses with one ring and thedimensions are as described respectively.
Surface bumps are ±1mm or less. There are no specifications regarding the material.
Do not place objects up to 2 m of the ring and 30 cm around the ring, down to 30cm to thefloor around the ring. However, the referee can move this range freely. (See diagram 1-(3))

5(1) With one ring(2) With two rings(2) Side view of the ring
Diagram 1

3.2

the size of rings

Outside disturbances

There are no specific regulations on the photographic equipment used by general spectators,
media members or competition officials. For this reason, if there is a chance that a
participating robot will be impacted by indoor lighting, sunlight, infrared light from cameras
or video cameras, flashes, or photographic lighting, etc., the participant is responsible fortaking countermeasures.

4

Robot Standards
4.1
Method of movement
Robots must be bipeds capable of walking with steps that are 10 mm or higher.
Explanation 2
Walking is not screened in the standards screening, but if a referee or judges during thecompetition that this standard has not been met, the competition will be interrupted, andwalking will be judged, so make sure your robot is able to walk right, left, forward and backtaking steps that are 10 mm or higher. If it is not possible to judge whether it is 10 mm higher6or not, judge it by going up and down to 10 mm board. Please be prepared. It is not being
prohibiting to walk with step lower than 10mm during the game.
If the robot does not satisfy this standard, the referee gives 1 down and a correction time of 2
minutes. If you can’t fix it, you will be a knockout. Everything related to the robot standards
will be handled in the same way.
Robot standards are common to ROBO - ONE, ROBO - ONE Light, and ROBO - ONE auto
unless otherwise specified.
Please prepare for regulations related to the referee instructions during the standard screening
and game, so that you can operate as instructed.
Please refer to 8.1- (a) for the regulations of walking.
(b)When walking, walk with robot’s hands at least 50 mm away from the floor of the ring.
4.2 Direction of movement
The front-back direction of the robot is defined as the direction perpendicular to the line
connecting the yaw axes (of both legs that move away from the upper body) and theperpendicular. If there is no yaw axis, judge by the pitch axis (Figure D-1). In addition, thefront/rear/left/right of the robot is determined by the orientation of the sole of the foot when
the robot stands upright (Figure D-2).
Walking the robot in the front-back direction is referred to as forward movement andbackward movement and moving in the left-right direction is referred to as left movement andright movement. In addition, the rules for front, back, left, and right also apply to each item ofthis competition rule.

With yaw axis(rotation)

With yaw axis

Figure D-1

Figure D-2

Commentary 4.2-1.
Since this provision is a rule for determining the front, back, left, and right, it is not prohibited7

to walk with non-parallel foot. It is defined as a criterion for items that have front and rearprovisions, such as the direction of movement and the direction of attack.

Robot standards

4.2

The robot’s shape is open if the following rules are observed. However, it is required tohave feet, two legs, two arms, trunk(torso) and head. Also, the head should be independent of
the torso. The size must be at least 2cm above and below, left and right, and front and back.
Each arm must have at least one working axis.
Explanation 3-1-The head should be a separate part from the torso. We do not accept anything with eyes ormouth on the torso.
- It is possible to add tails for attack.

4.2.1

Rules on feet and legs(a) The size of the soles of the feet (the part that contact with the ground) is stipulated per
weight category as shown in Table 1. The length of the sole from front to back must be
X% or less of the length of the leg. However, soles can be no longer than Y cm. The
width of the sole from right to left must be Z% or less of the length of the legs. Leg lengthis measured from the axis of forward and back movement at the very top of the leg to thesole of the foot when the leg is fully extended.
Table 1 Robot Sole by Weight
Robot WeightX
1 kg or less (ROBO-ONE & Light & auto)
55%
2 kg or less (ROBO-ONE & auto)50%
3 kg or less (ROBO-ONE & auto)
45%
5 kg or less (ROBO-ONE auto)
40%
7 kg or less35%
10 kg or less
30%
Over 10 kg
25%(Figures for weights over 3 kg are for reference.)

Y
10 cm
11 cm
12 cm
13 cm
14 cm
15 cm
16 cm

Z
35%
30%
25%
25%
20%
20%
15%

Explanation 3
As shown in Diagram 2, the leg length is the length from the axis of forward and backmovement to the sole of the foot. The size of the foot is measured as shown in Diagram 3.
If the axis moving back and forth is a parallel link, measure from a higher axis position.

8

Diagram 2

Diagram 3(b) If in the shape of a clog (geta), the sole length is measured as the length of the red line in
Diagram 4.

Diagram 4(c) When the robot is standing, the lines tracing the outermost perimeter of the soles of theleft and right feet must not overlap when looked at from above.
Explanation 4
In the structure shown in Diagram 5, the lines tracing the outermost perimeter of the soles
overlap, so the robot would not be allowed to participate. (The dark blue portion is the areathat would be judged to overlap.)

Diagram 5(d) Suction/absorption devices (including adhesive materials) must not be placed on footsoles.

4.2.2

Arms, tails, etc.

(a) The length of parts that move away from the torso (arms, tail, neck, etc. excluding legs)should be less than Zcm from the center of the servo axis that supports the part thatmoves away from the torso as shown in Table 2 by robot weight. The judge will measure9the length of the arm in the attack state extended back and forth. (see Diagram 6).
Table 2 Standards by Weight for Parts that Move Away from the Trunk
Robot WeightZ
1 kg or less (ROBO-ONE & Light & auto)
26 cm
3 kg or less (ROBO-ONE & auto)
30 cm
5 kg or less (ROBO-ONE auto)
35 cm
7 kg or less
40 cm
10 kg or less
45 cm
Over 10 kg
50 cm(Figures for the 5 kg or less category to the over 10 kg category are for reference.)

Explanation 5(1) Measurement of length (View from the top)(2) Measurement when attacking while rotating the body
Diagram 6
The judge will measure the length of the arm in the attack state extended back and forth as
Diagram 6-1 and 6-2. In the case of an authorized robot, it conforms to the certified robot
standard.
(The movable range regulation is abolished.)

10

(b)When using transparent materials such as acrylic plates on the hands of the robot, surroundthe area with tape or painting to make it easier for referees and judges to check the positionof the minion.
・4.2.3 Battery safety management
For the safety control of a battery, you must bring altogether batteries used in the hall and take theexamination by the start of the competition. (For details, refer to participant guide)
When it is judged that there is a dangerous possibility of leading to serious accidents, such as, themain part of a battery having swollen extremely, or serious damage of main part, cables, andconnectors, it cannot be used.
The battery which safety has checked is attached a "checked seal."
Since batteries without the seal cannot be used, attach the seal till the end of the event.
When it turns out that the battery without the check seal is used and charged, we will suspend you.

Diagram 7 checked seal

4.2.4 Center of gravity rules(a) The robot’s center of gravity in the vertical direction must be clearly higher than the axisof forward and back movement at the very top of the legs. Also, when measuring centerof gravity, parts like hands used for attacks must be placed below the axis for moving
them away from the trunk. Center of gravity is measured using the seesaw method.
Explanation 6
Center of gravity is measured with the legs fully extended and the hands placed lower thanwhen horizontally extended (see Diagram 7). Program the robot so that it can get into a
position that allows its center of gravity to be measured (see Diagram 8).

11

Diagram 7

Diagram 8

Explanation 6-2-We carry out recognition examination on ring. We do not put a curtain on the background.
-Recognition examination randomly carries out each recognition 3 times and confirms that eachcorrect answer 2 or more times. Recognize within 3 counts and keep pause during recognition.
Recognition examination proceeds at random as follows.
For example, (1) person, (2) fallen KHR, (3) standing KHR, (4) plastic bottle, (5) fallen KHR, (6)person (7) plastic bottle, (8) person, …
Please recognize within 3 counts each. You will be disqualified if you make a mistake twice for thesame target.
-For human recognition, the referee may touch the robot on the ring. The purpose is to recognize thisand not attack it. Specifically, a person faces the robot 1 m ahead of the robot and stands with his12hands beside the face. In order to adjust the height to the robot, the face and hands may come fromthe side.
-A plastic bottle is a bottle of drink that people generally tell. We remove the seal and wrap the white
paper. We will use around 2 liters. Please be able to cope with various types of things.

4.2.6

Prohibitions(a) The power source must be mounted inside the robot.
Explanation 7
If the battery is exposed on the outside, there is a risk of shorts are fire, so position thebattery to prevent shorts and battery damage in normal matches between robots made ofmetal and plastic, etc. Also, adequately protect circuit boards and power-supply lines. Also,
if the wiring is hanged down carelessly, it may be judged as a dangerous condition, so pleasebundle the wiring together.
If judged to be in a dangerous position, a red card (1 “down”) is assessed, and if it is not
repaired within 2 minutes, a technical knockout is assessed. If there is smoke or fire, atechnical knockout is immediately assessed.
For example, if the battery cover comes off during the match and exposes the battery, thereferee judges that there is risk involved and orders it repaired. This count as 1 “down,” andthe repair time is 2 minutes, the same as timeout rules.
At this time the participant is not allowed to increase the weight or change the position of
the center of gravity. Repairs could include screwing the cover down or taping it down withplastic tape, etc.
Also, install the power switch in a position that is easy to operate and protect it against
malfunctioning with a cover etc. The game will continue even if the switch turns off bycontact of robots during game.

(b) Parts that could hurt someone are not allowed.
Explanation 8
The judge checks in the standards screening by directly touching the parts, and if judged to
be a danger, the participant is asked to make repairs. If repairs cannot be made, the robot is
disqualified. Make sure to conduct adequate processes such as deburring.

13

(c) Robots must not have jamming devices or other devices that intentionally disrupt the
opponent’s control such as lasers or strobes. However, sensing equipment such as laser
range sensor is excluded.
(d) Robots must not use any parts that could damage or dirty the ring.
(e) Robots must not have objects, liquids, powders, or liquids that can be blown at the
opponent.
(f) Robots must not have devices that ignite.
(g) Robots must not have weapons that could damage the opponent or ring. Dangerous
objects like knives or things that revolve at high speeds are prohibited.
(h) Robots are not allowed to fly or move using fans or propellers, etc. that revolve at highspeeds. CPU cooling fans are not limited to this.
(i) In addition to the above, if a judge or referee judges something to be antithetical to thespirit of ROBO-ONE, it is ruled non-compliant.
(j) Robots are not allowed to have structures that hook other things or have hands, arms or
tails that hold highly adhesive materials, hooks among others.
(k) When decorating, keep the robot’s decoration in a length that does not touch the ring when
standing upright and walking.

Explanation 9
When a robot grabs and knocks down its opponent using a hooking structure or with hands
made with a highly adhesive material, the attack is not valid.
If the referee decides that it is against the regulation, makes it 1 down and asks the player tomake correction within 2 minutes.
It is desirable that the structure to be caught is about 120 degrees or more in the case of
bending.
In the standard screening, the judges judge strictly whether the paper sticks to stickiness.
However, this does not mean that grabbing, pinching or hugging actions, etc. are disallowed.
Explanation 9-2
Dazzling high-brightness LEDs etc. may be judged to be disturbing lights to the driver, so it
is desirable that they be able to dim the light and turn off.

4.3

Shape may not be altered

Robots must not be modified to alter their shape at any time during the preliminaries andfinals.

4.4

Replicas not allowed

Robots that replicate the shapes or forms of existing characters or people not authorized by
14

the Biped Robot Association, as well as use of their illustrations or photos, etc., are prohibited.
Copyrighted music and voices, trademarked names and other equivalent items also must not
be used.
When necessary, the participant must obtain permission.
In addition, if you receive permission, contact the Biped Robot Association in advance.

4.5

Standards for certified robots(a) Commercially available robot certified by the Biped Robot Association.
(b) Complies with the rules stipulated for each certified robot listed on the official
ROBO-ONE website.
(c) Do not use optional parts other than the certified optional parts listed on the official
ROBO-ONE website.
(d) When attaching a part to arms, the weight must not increase more than 20% and the lengthof the left and right arms must not exceed more than 260 mm each. However, the weight must
not exceed 2 kg.
Modifications may include adding color, adding stickers, adding head parts that do notenhance performance, decorating with paper, fabric, plastic, or sponge materials, andchanging the software. Adding decorative lights and sensors and changing the control
microprocessor are also permitted.
e). When participating in ROBO-ONE auto, allow weight increase to 20% + 500g due to theaddition of CPU board and camera.
In addition, for these mountings, if the safety regulations are satisfied, modification ispermitted.
f). A team with a certified robot of ROBO-ONE Light ranking point of 400 or more cannot
participate in ROBO-ONE Light with that robot. However, this does not apply to students.
http://www.robo-one.com/en/rankings/light/
Explanation 9-3

Please refrain from participating with certified robots as much as possible

for excellent robots with high ranking points, and participate with robots of 1 kg or less.

5

Robot Control
5.1
Prelims/Finals Control Method
During the prelims and finals, robots may be self-controlled by a computer or controlled
manually by a human operator. If controlled manually, wireless communications must be used(radio, infrared, etc.). Participants must consider match conditions (light, sound, radio waves)and take steps to keep from obstructing control by the opponent even if using the same system.
If using low-power, weak-signal radio control, use a wireless system with eight or more
frequency channels. Also, if using an RC proportional controller, have at least eight crystal
15

oscillators available.

Explanation 10
RC controllers should use the following frequencies.
27 MHz band: 26.975-27.255 MHz (12 bands, 1 to 12)
40 MHz band: 40.61-40.75 MHz (8 bands, 61, 63, 65, 67, 69, 71, 73, 75)
AD band (25 MHz weak, 20 bands)
2.4 GHz band, 5 GHz band
Approved wireless LAN, Bluetooth, ZigBee, etc. may also be used.
Use of wireless formats not approved in the host country is prohibited.
You should use systems that allow eight channels to be used simultaneously.
Preparations may be performed by friends or a team. After participants in the final’s
tournament are determined, wireless frequencies are assigned to the robots. If using a remotecontroller, have the crystal oscillators available up to this time.
5.1-2. ROBO-ONE auto's robot operation method
Through preliminaries and the finals tournament, the robot must be an autonomous motion by
a computer and a sensor installed in the robot during the game. However, the robot isconnected to the network and the robot can exchange information without human operation.
The robot is designed to start its motion at the beginning signal of the referee and to stop the
motion with a wait or a stop signal, and at this time human manipulation is permitted.
However, it shall be equipped with wireless start, stop, and depower mechanism. You cannot
touch until the robot is completely stopped.
Also, do not touch the controller during the game. Therefore, take countermeasures such as
hanging the controller from the neck to quickly stop or depower the robot.

6

Prelims Format
Preliminaries are done by “4.5m run”, “floor exercise” or “defeat KHR”.

6-1 4.5m runs(a) Each robot travels 4.5 meters. The width of the lane is 90 cm. (See Diagram 9. This maychange depending on the venue and operational circumstances.) The time limit is 1
minute. Decide the ranking by the time to the goal. In the case of course-out or time-out,
you can’t participate in the final tournament.
(b) The robot can start walking according to the signal of the system (monitor screen).
(c) Travelling in the direction of the goal must be accomplished by walking only—the left
and right foot alternate in being put forward. The feet do not need to alternate if
adjusting stay in the lane or change the robot’s direction, etc.
(d) Robots must not move toward the goal when anything other than its feet soles aretouching the ground.
16(e) If the robot falls over, it gets up at that spot and continues the competition. If it goesbeyond an obstacle at the time of getting up, it can continue from the place where it gotup.
(f) The lane uses the ROBO-ONE ring, but a part of the course may have obstacles with athickness of 10 mm or less placed down on it and affixed with double-sided tape.
Obstacles material are used, one with good grip and one that is slippery. Also, obstacles
may not be flat. (Changes may be made depending on the circumstances at the venue.)(g) The order in the prelims is determined randomly and the robot’s race in the predeterminedorder. A 10-second penalty is assessed each time a participant passes their place in theorder. If a robot is unable to complete the race, the number of passes is limited to 2 times.

Diagram 9
6-2 Floor exercise
6.2-1. Content of competition
1). The robot performs floor exercise for one minute and competes in the ranking based on thescore obtained. However, in the case of a tie, the ranking will be determined by the time of
one performance.
2). There are 4 types of performances, the one is a competition that also measures time. The
prescribed performance shall be the performance announced in advance in the specified order.
A player performs an action by calling an acting name (or acting number). If you do not call,it will be a deduction of 1-point.
3) Start the game according to the referee's instructions and start the 1-minute timer.
4). The performance score will be scored only once per type. If the same performance isperformed several times in succession, the higher score is adopted. However, the order of
performance cannot be changed.
5). Perform the performance from the upright position and make one set until the end of theperformance. Hold that condition for 3 seconds after one performance is over and standupright. One point will be deducted when not standing upright or not holding for 3 seconds.
6). During the competition, you can give instructions to the robot by wireless control.
7) Do not touch the robot during the competition. If you touch the robot, you will lose 1 2
points.
8). If the robot falls from the stage, the referee returns the robot to the stage and resume on the17

instruction from the referee. In this case, 1-points will be deducted.
9). The timer will not stop unless instructed by the referee.
10). Preliminaries order is determined by random numbers and do in the determined order. 2
points will be deducted for each pass. Pass is limited to 2 times.
Explanation 11. Upright state means that the legs are parallel, and the knee angle is 180
degrees. (See Fig. 10)
Please proceed at your own discretion. The referee calls the result, but there is a timedifference.
6.2-2 Scoring method1). Referee calls the score according to the regulations. The referee calls result in accordancewith the regulations and the judges call score.
2). Judge judges whether the referee's call is correct.
3). Two or more judges are required.
6.2-3 Standard performance and points
The prescribed performance is the following four types, and "moving" performance measures
the time.
Performance 1

Movement

Contents

Move from red corner to blue corner (or vice versa)
The robot must cross the start line, pass outside the checkpoint,cross the goal line, and have both feet completely in the area.
See Figure 9-2. If you move without stopping during this time,
add 1 point. Movement is in the forward or backward direction.
The start line, goal line, and checkpoint are subject to change.
Evaluate the moving time (*1) and gait.
Skipping

Running

Feet 10 mmslidingrunning(both feetor morefeet

3 points

2 points

Fall (* 2)floated)Evaluation point
5 points

4 points

1 point

Measure travel time at the same time
Performance ２

HandstandContents

Make a handstand and stop for 3 seconds. (*3)
Stand aEvaluation point

One handTwo hands

finger

Three

Fall

points(*4)
10 points

4 points
18

3 points

2 points

1 pointPerformance３

Jump rotation

Contents

Jump and rotate around the vertical axis of the body. (Angle ismeasured at the time of landing.)

Evaluation point

270° or

270° or180° or

90° or

more

less

less

less

5 points

4 points

3 points

2 points

Performance 4

Forward and backward rotation

Contents

Rotate with the whole body floating,Fall
1 point

Do not ground other than the feet.

Evaluation point

GroundingGroundingGrounding

Front-backother than

only oneboth hands

rotation

foot

hand

10 points

4 points

3 points

2 points

Fall

1 point(*1) Measure the time from the red or blue corner to the start line to the finish line.
In the event of a fall, the measurement continues. Players who have a fast finish will be
more likely to advance to the final tournament, so try to score as much as possible.
(*2) If it is carried out and falls, it will be 1 point, and it will be taken as a zero point if it is
not carried out.
The robot does not work only by the call of the performance name, it is judged that it does
not implement and becomes 0 points.
(*3) The performance becomes effective when it stops for 3 seconds, and the same
performance can be challenged continuously by advanced skills.
(*4) Stand at a single contact area of 1 cm2 or less.
Explanation 11- In movement, it is prohibited to walk sideways except changing direction.
- There is one hand with "one hand upside down" such as by hand, and it is not judged thatupside down with elbow is one hand upside down.
It is equivalent to two-point inversion. Inverted by both elbows is a three-point inversion.
In the case of a robot in which the hand is integrated with the arm, it is acceptable to use
grounding part of arm is less than 20% of the total length of the arm. 20% of the arms are
20% from the tip of the arm or the tip of the hand. In the prior examination, please color-code
the grounding part of the hand, etc., and declare it. The same is true for single finger"inverted".
- Please put both legs together and extend straightly for "handstand".
19

Upright at the beginning of acting is adopted to judge the separation between acting.
Therefore, it is not necessary to maintain the starting upright for 2 seconds. Also, after
standing upright at the end of the previous performance, if you have not walked or changed
direction from the spot, you can start the next performance without standing upright at the
beginning.
Example 1) Upright - Acting - Upright (2 seconds) - Acting - Upright (2 seconds).
Example 2) Upright → Acting → Upright (2 seconds) → Change of Direction →Upright → Acting → Upright (2 seconds) .

6.2-4. Stadium
1) Use two small ROBO-ONE rings.
2) Start position: A-ring is red corner red part, B-ring is blue corner blue part. The
performance shall be in the middle of the ring.

Diagram 9-2. Floor exercise field

6.3 Preliminaries for ROBO-ONE auto: “Defeat KHR”
6.3-1. Competition contents
In ROBO-ONE auto, the robot is autonomous and competes for the time it takes to find anddefeat the standing KHR-3HV from among the randomly placed objects. The top 16 robots
can participate in the final tournament. Robots that could not beat the standing KHR cannot
participate in the final tournament.
1) The start position is in the red or blue corner, and the timer starts with the referee's signal.
The time limit is 2 minutes.
2) Place multiple items of obstacles that should not be defeated, such as plastic bottles, fallen
KHR, and referee's hands.
3) If the robot defeats an obstacle other than the standing KHR, add 5 seconds to the time foreach obstacle.
4) When falling from the ring, add 5 seconds to the time and continue from where it fell.
Under the direction of the referee, the player can return robot to the stage.

205) Don't touch robots during competitions. If you touch it, add 5 seconds to the time.
6) If the robot enters a software loop during the competition, the robot can be restarted.
However, the watch does not stop. It is added 5 seconds at a time. Declare the referee "Retry".
Resume from the start position.
7) If the referee or judges that the robot is dangerous, such as a runaway robot during acompetition, it may instruct the robot to stop. In that case, the player stops the robot
immediately wirelessly, or manually. If there is a danger to humans, they will be disqualified
as a result of consultation.
8). The qualifying tournament order will be determined by random numbers and will be
performed in the determined order. There is a 10 second penalty for each pass. Pass is limited
to 2 times.
6.3-2 KHR and obstacles"KHR" here doesn't mean an actual robot, but a dummy object mimicking its appearance. It isa panel with a photo of a KHR-3HV (listed in the certified robot list) pasted onto it.
・ Use a plastic bottle with a white paper on a 2 liter bottle.
・ The referee's hand should be a photo of an open person's hand made into a panel with thesame size. Also, palm height should be 50cm or less6.3-3. Stadium
・ Use a small ring for Preliminaries. Do not put a curtain on the background. The figure
below is a reference diagram and the arrangement of obstacles etc. will be changed.

Diagram 9-3. Stadium
Explanation 11-2
To ensure safety, if a referee or a judge judges that a robot is conducting attack
indiscriminately without recognizing objects, the robot will be disqualified.

7

Finals Tournament(a) Matches are generally 1 round of 3 minutes and are won by knockout or number of“downs.” Depending on the number of participants and other circumstances, the match
time may be changed.
(b) The referee issues yellow cards and red cards according to circumstances, but it becomes21

one red card with two yellow cards. Red cards are handled equally as one "down".

Explanation 12
A 1-point difference in the number of yellow cards cannot determine a victory. Only thedifference in the number of downs (including two yellow cards) determines which robot
won. However, this does not apply to overtime.
(c) When neither robot secures a victory in one round, there is a 2-minute overtime roundthat is decided by sudden death—whichever robot scores a down first wins. If there is nowinner even after overtime, victory is determined by the judges on points. However, if itis the Final Tournament, depending on the situation, there may be overtime. Also, when
there are large numbers of participants, victory may be determined by decision without
conducting overtime.
(d) If the game time is 2 minutes, the extension and the re-extension shall be one minuteExplanation 13
Judgment of games is done as follows.
<In the usual round>
The number of downs (including red cards) will determine the outcome. Winning or
losing is not decided by yellow card difference.
<Overtime round>If winning or losing cannot be decided, the judges will score based on the number ofyellow cards, the number of slips-downs and the number of offenses within the extension
time and decide on winning or losing. At this time the yellow cards in the round will behanded over. The number of slip and attacks are not handed over.
<Re-overtime round>
If the judge cannot judge it, we will perform re-overtime round, but at this time without amaintenance time (battery exchange is not allowed), we will immediately extend for 2
minutes.
If there is not down, decide the outcome by the number of slips. In the case of the same
number of slips, decide by the number of attacks. Furthermore, if it is the same number,
we do further extension without maintenance time.
<In the non-overtime round>
Just like the above "Overtime round", the judges will score based on the number ofyellow cards, the number of slips and the number of offenses within the extension timeand decide on winning or losing.
If it is impossible to judge by any means, it will carry out an extension round in the same
way as "Re-overtime round" above.
22

(e) The preparation time to the start of the game shall be within 2 minutes, if it exceeds this,it shall be defeated. However, if there is an application for late arrival by a participant oran agent during the preparation time, we will wait for the participants to be ready. Whenthe preparation time has passed, it will be 1 down and give a red card every 2 minutes
thereafter.

Explanation 14
The match order is listed on the tournament schedule, so be ready at your match venue by
the start of the match three matches prior to yours. After you are called, the matchproceeds in accordance with the above competition rules.
The progress can be checked by updating the ROBO-ONE site's tournament table in realtime.
(f) The ring has a red corner and a blue corner; the left side of the tournament schedule is red,and the right side is blue. When the schedule is written vertically, the upper is red and thelower is blue.
(g) There are rules on where participants may stand during the competition to allow
spectators to enjoy the technological brilliance and entertainment value of the robots andto record the proceedings for video distribution. During finals matches (not including
timeouts) and the prelims, participants must not enter the ring or touch the robots.
Touching a robot results in a yellow card.
Explanation 15
Participants are everyone around the ring, including the people operating or controlling therobots, people participating in teams and other supporters, etc. People other than thosecontrolling the robots may not stand. Also please keep at least 30 cm away from the ring.
Please follow the instructions of the referee as to where the contestants stand in theconvention venue.
Request for operator's second or supporter
Avoid support that could affect the referee's judgment and management.
It may be a yellow card.

8

Match Rules
8.1
Walking(a) If instructed by the referee, the robot must lift the soles of its feet at least 10 mm off theground and proceed forward, backward, left and right for at least three steps.
If the walking of regulation can’t be done, give 1 down and give 2 minutes correction
time. If it can’t be modified, it will be knocked out. (Refer to explanation 2 in 4.1)
23

(b) Robots are not allowed to walk in a crouching position, and the judgment on this is madeby the referee.
Explanation 16
Walking in a crouching position refers to when the knee joints are at 90 degrees or less, orwhen crouching with the hip joints open 90 degrees or more left to right. The same
applies when two servos are used for the knee joint (see Diagram 10). This is not thelimitation for the swing leg.

✓：OK

Diagram 10

8.2

Match Proceedings(a) The referee calls the start of the game "Hajime", the end of the game "Yame", and "Mate"to stop the game. At this time, the referee stops the timer as necessary. To resume, call"Hajime". After the opponent gets down (slipping, standing) and gets up, you can start an
attack with a "fight" signal.
(b) If the opponent goes down, you must leave a distance that does not disturb youropponent's getting up.
Explanation 17
Since the same rule is adopted also in ROBO - ONE auto, please be able to detect that
opponent is down. It is a yellow card when you disturb opponent's getting up or attack.
However, in the case of ROBO - ONE auto, if the opponent gets up, even if there is no
instruction of the referee, it is possible to attack. At the time of game restart or at the start ofthe extension game, depending on the judgment of the judges, there are cases where the robot
is placed at a short distance for easy detection of the position of the opponent.
(c) When a robot goes down and does not get up after the referee counts to ten, it is aknockout (K.O.), and the other robot is awarded the victory. The count will continue even
if the round has ended.
(d) If robot fall after doing own attack, even opponent go down it is not a "down" but "slip".
24However, if you can’t get up during 10 counts of referee, it will be knocked out. If bothsides cannot get up at the same time, an overtime will be held.
(e) Even if the robot does not fall, it will slip if it touches the ring other than the sole of thefoot, and will be subject to the yellow card if it occurs frequently.
(f) When a robot is knocked down three times during the same match, it is ruled a knockoutand victory is awarded to the opponent.
(g) The match continues even if both robots fall on top of each other due to an attack.
However, if the referee judges that it is not possible to continue the match, the robots areplaced in the fallen position apart from each other and the count is commenced.
Explanation 18
Make it possible for your robot to depower at the reference’s signal if the two robots
become entangled. Build your robot so that the power can be turned off quickly and it canbe restarted quickly.
Also, in order to ensure the referee’s safety, do not operate your robot without thereferee’s signal. The penalty is a yellow card. The referee leaves them to move from theintertwined position to the inside of the ring.
In addition, the venue makes a variety of lighting to improve the entertainment quality
and make it easier to see. Please take countermeasures for this.
(h) Do not attack a robot when it has gone down.
(i)“Give up” may be indicated to the referee during the match. If the referee then judgesthat the match cannot be continued, a “technical knockout” may be declared.

(j) In case of crouching with defense, fall prevention etc., it must stand back up within 3
seconds. The robot then may not attack or crouch again until it has taken at least threesteps. If there is a violation, the referee will issue a yellow card.
Explanation 19
Walking in a crouching position refers to when the knee joints are 90 degrees or less, orwhen crouching with the hip joints open 90 degrees or more left to right. This same
applies when two servos are used for the knee joint (see Diagram 10).
See Diagram 10 in Explanation 16.
(k) If the match rules are broken or there is unsportsmanlike conduct, a yellow card or red
card may be issued on the referee’s judgment.
(l) If a part falls off (not including screws), a yellow card is assessed. If the situation is
judged to be dangerous, a red card is assessed, and the participant is ordered to makerepairs.
(m) Time does not stop unless there is indication from the referee.

25

Rules on Downs

8.3(a) A robot is ruled “down” only if it falls due to a valid attack.
Explanation 20
Attacks should be effective punches or moves that involve grabbing and throwing the
opponent.
(b) If the robot goes out of the ring, it is treated as equivalent to one down.
(c) If the robot goes out of the ring when standing up after going down due to a valid attack,it does not count as an additional down. If both robots go out of the ring at the same timeas an attack, the robot that made the valid attack is not considered down.
(d) If the robot stops for more than 3 seconds without falling, or if it does not move left andright more than 10 seconds, call "Standing" and if it does not move within 3 counts Thencall "Standing down" and start to count from this point. If it cannot move within 10
counts, it will be a technical knockout. Assume that the robot has recovered from "down"when it moves.
"Standing" is treated as equivalent to slip.
(e) If the referee judges that a robot has repeatedly slipped intentionally (including falls that
do not result in a down or diving in response to an attack, etc.), a yellow card is assessed.

Taking timeouts

8.4(a) Participants may request that the referee call “time” (a timeout) once per match.
(b) The referee receives the request, judges the situation in the match and calls the timeout.
(c) Timeouts must be no longer than 2 minutes.
(d) When the timeout is called, it is treated as one down.
(e) The timeout is not recognized if your robot has received a valid attack or during standing
down. In the case of slip, timeout can be requested.
Explanation 21
For the timing to finish the timeout, priority is given to the call on the side that took thetime. So, the side who have not taken must follow this.

8.5

Attack rules

8.5-0. What is an effective attack?
An attack that defeats the opponent by an attack action that uses a part of the
body such as hands, feet, head, tail, etc. If the own robot defeats the opponent
without falling down, it can be called an effective attack and take down.

8.5.1
(a)

Crouching attacks
Crouching attacks are prohibited. This is the subject of the yellow card.

26

Explanation 22“Crouching attack” refers to attacks made in a crouching position, the same as walking in a
crouch in Explanation 16.

8.5.2

Lateral attacks(a) Lateral attacks are prohibited. This is the subject of the yellow card. However, if you raise
one leg and attack with that foot, you can also lateral attacks.
(b)
Explanation 23“Lateral attack” refers to attacks made at ±45 degrees in the lateral direction from yourrobot. Lateral direction is the direction at a right angle from the direction the robot is
walking; The walking of the robot must be same as the walking specified by prelims.
The intention to attack in the walking direction includes not only the upper body but the
movement of the legs as well.
We will judge the direction orthogonal to the line connecting the yaw axes of both legs andthe perpendicular of the ring as the front-back direction of the robot. If there is no yaw axis,
it is judged on the pitch axis. See Diagram 12
Whether the attack is effective or not is judged by whether the hit point to the opponent is
outside the NG range of plus or minus 45 degrees of yourself. For example, if you hit a
hook to the opponent in the front direction, the place you hit is valid if it is out of NG
range. Also, if you hit in the NG range in the middle of motion, it will be invalid and will
be eligible for yellow card. (Diagram 12)
A motion that apparently attacks only the NG range in a series of actions is judged to be aside attack and is subject to the yellow card.

Diagram 11

27

Diagram 12

8.5.3

Sacrifice attacks(a) Attack moves in which a part of the robot other than the feet touch the ring just before orafter attacking the opponent are called “sacrifice attacks,” and It is not a valid attack, it isa slip.
(b) Even if you defeat the opponent with a valid attack, if your own machine collapses atthe same time, it will be slip.

Explanation 24
Extensive use of slipping and sacrifice attacks will be subject to yellow cards.
When attacking from below, a hand touching the ring, etc. is regarded as intentional. Be
aware though that it may also be regarded as a sacrifice attack.

8.5.4

Owaza (“bold attack”)(a) Attacks to attract spectators are called “Owaza,” or “bold attacks.” Owaza can take up to
2 downs. Owaza decisions are made by the referee, but they require the consent of mostjudges.
(b) The attacks that the opponent fly higher than the waist of the own robot is taken as an
Owaza.
(c) If the robot falls your opponent with a kick that is higher than own waist position, it is an
Owaza.
(d) Own robot rotates 180 degrees or more, and the attacks to defeat the opponent during therotation is Owaza.
(e) For the Owaza, it is excluded from the lateral attacks and sacrifice attacks. However,28

crouching attacks are prohibited.
(f) Owaza with lateral attacks or sacrifice attacks includes overtime, same attacks can beused only once in one game regardless of whether it is valid or invalid.
Explanation 25
Owaza are specifically defined as follows with the names commonly used in martial arts.
However, they are not limited to these moves; the decision of the referee and judges isgiven precedence.
In addition, it is necessary that Qwaza must be clearly distinguishable by referee.
Attacks that will be targeted in the left and right front and rear are regarded as the same.
backward kick and the lateral turn kick are all the same technique as the forward kick.
*Owaza are still not clearly defined and are left up to the judgment of the referee andjudges. In the case of a new Owaza, or if the referee cannot make a clear decision, thereferee and judges make the decision. The following are "OWAZA" and the number ofdowns. You should consider the risk that a move may not be recognized as Owaza before
taking up the challenge.
・Back-drop-----2 downs

・Shoulder throw-----2 downs

・Leg sweep-----2 downs

・Overhead throw-----2 downs

・Forward rotation kick -----1 down (Backward rotation kick and Side rotation
kick are also 1 down)・High kick-----2 downs

However, it may be 1 down depending on the degree of difficulty of the technique.

Explanation 26
If there is a mistake in the judgment of the referee or if you feel doubt about the judgment,
please inform the judge (not the referee) when the game stops. For example, it is better tooffer after the signal of "waiting" "stop" of the referee. The operator raises his / her handand in large loud voice please offers the judge "objection".
The judge will stop the watch and deliberate the content. If it is not decided, the judging
committee chairperson will finally judge it.
The decision will be confirmed at the end of the match. It will not be covered after that.
There will be more than two judges for fairness.

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・Explanation 27 About C ring
The same game rules are also applied to the C ring set outside the venue. Also, please use
according to the instructions of the safety manager to ensure the safety of participants andvisitors.

・Explanation 28

About ROBO-ONE Kendo

The competition rules of ROBO-ONE Kendo are summarized in a separate volume. In the
future, robot standards will be standardized, so you can easily participate in ROBO-ONE
Kendo too.

・Explanation 29

Signal of referee

The referee signals for the following purposes. Also, the referee's voice may not be heard,
so the gesture has been clarified.
Please remember.
· Start = "Hajime" or "Fight": Signal when starting the game, starting after stopping,starting after waiting.
Raise a palm vertically and lower it from top to bottom.
· Wait = "Mate" or "Wait": Signal for interrupting the game
Point a palm toward the operator or robot and push it forward.
· Stop = "Yame" or "Stop": Sign of the game finish
Open both hands and raise above.
· Fight = "Fight": a cue to encourage fighting. It is also used after getting up from the slip.
Put palms forward and encourage the fight with both hands.
· Down = "Down": In case of falling due to a valid attack
Point with index finger.
· Slip = "Slip": In case of collapse other than effective attack
Put a hand forward and shake left and right twice.
· Standing = "Standing": When stopping in a standing state or judging that it enteredclosed loop.
Bend the elbow at a right angle and raise your hand.
· Standing Down = "Standing Down": 3 seconds after the call of "Standing".
Same as down, "point with index finger."· Ring out = "Ring out": When the robot falls off the ring.
Point to the ring side by hand.
· Time out= "Time out": When time approved
Make a letter T with your right and left hand.
· Ready? = "Ready?": To confirm that you are ready
Point to the operator.
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· Break = "Break": When instructing to leave 1 m or more.
Put hands forward and open the gap.
· Torque off = "Torque off": When instructing torque off of robot
Open hands and move it down.
· Power off ="Power off": When instructing to turn off the power.
Cross hands.
· Winner Red / Blue Corner = "Winner is red / blue": When declaring a winner
Raise hand on the winner's side.
· Bold attack = "Owaza": declare a bold attack.
Make a letter O with both hands.
· Owaza Failure = “Owaza failure”: Declare a failure of a Owaza.
After making the letter O with both hands, shake a hand.
· Stand away = “Stand away”: when putting distance by the other's getting up etc.
Same as Break, “Put hands forward and open the gap.”· Walking check = “Walking check”: Declare to perform walking check.
After pointing at the robot, pose to walk with two fingers.
· Stand up = “Stand up”: Instruct to stand up.
Open both hands and move up from the bottom.

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