ROBO-ONE / Light Remote Competition Rules
Created on Feburary 4, 2022, Biped Robot Association
1. Purpose of this rule
Assuming that the ROBO-ONE competition cannot be operated normally due to measures
to prevent infection with the new coronavirus, the rules for remote competition will be
added to the "ROBO-ONE / ROBO-ONE Light Competition Rules".
2. Competition location and judgment method
The Robot operators and robots participating in the competition will use the Zoom
conference system to play designated competitions at home or in a playable isolated space,
where referees and judges will rank in preliminary and win or lose in final tournaments.
According to the ROBO-ONE competition rules, it is not necessary to be more than 30 cm
away from the field, but there should be no disturbances such as impacts on robots anddummies that may affect the judging of the field. If it is determined to be affected, you may
be instructed to leave from the referee or judge. In addition, a yellow card or a red card may
be issued.
3. Standard examination
Robot standards should comply with the 40th ROBO-ONE competition rules.
Robots, dummy robots, rings, etc., camera placement, and internet environment will bechecked remotely. If the referee or the judges deem it necessary, the standard examination
will be conducted before, during and after the competition. Athletes who have been
instructed by the referee or judges to perform standard examinations can use measuring
instruments such as weighing scales (unit: kg, g) and scales (unit: cm) to measure weight,
check dimensions, check walking, etc. The instructed check must be clearly shown on thevideo so that the referee and judges can confirm it. Robots that do not conform to thestandard examination will be disqualified.
Battery check is also done at the player's own risk. Also, in case of fire, take fire prevention
measures such as preparing a bucket of water and a rag.
4. Preliminary
Preliminary will be ROBO-ONE and ROBO-ONE Light (both including auto) remote step
up and down.
·ruleGo up and down the platform with a step of 30 mm or more, and compete for the number oftimes you can go up and down in one minute.
ROBO-ONE will have a step of 30 mm or more, and ROBO-ONE light will have a step of
20 mm or more.
In auto, it shall be performed by autonomous operation, and the controller shall be placed ina position where the referee can be seen on the screen. After the referee's instruction, therobot will start with a signal that the operator reaches out in front of the robot.
·fieldParticipants should prepare the steps. There are no restrictions on the material or colour ofthe steps. In addition, the width of the step can be freely determined. Mark as a starting
point at a distance of 500 mm from the step.
・ Flow of Preliminary
Measurement starts at the signal of the referee's start. The robot moves forward or backfrom the starting point, up and down to the step, and repeats ascending and descending.
Ascend to the step in the forward or backward progress and both feet reach the ground →Go down the step and make it once until both feet reach the ground. You don't have to go
back to the starting point each time.
If you fall on the way, you can continue if you get up on the spot. However, if the robot gets
off the step or goes up due to the rising motion, that is considered a failure.
·pointRobots with a higher number of times are ranked higher in the preliminary order.
·time
You cannot apply for "time".
·penalty
Red card: minus 3 times against the result.
Yellow card: Two cards make a red card.
5. Final tournament-ROBO-ONE / Light (both include auto) Remote Final rule
Dummy robots will be treated in the same way as regular opponents, and the match method

will follow the 40th ROBO-ONE competition rules.
However, the following corresponds to remote.
(a) The final tournament will be a point system of 30 seconds and 3 rounds. However, thefirst and second rounds will be 30 seconds and 2 rounds.
(b) Defeat the dummy robot shown in Fig. 1 with an effective attack for 30 seconds.
(c) The round ends when the down is taken. After that, you may touch the robot or dummy.
(d) Compete for how many points you can get in 3 rounds.
(e) When using an OWAZA, declare the name of the OWAZA before starting the operation.
When using an OWAZA that is not on the OWAZA list, declare the name of the skill of therelevant competition or the name of the skill that the judges can recognize. Also, thetechnical name related to copyright cannot be used. If the name of the technique is unclear,declare it as "OWAZA". The judges will judge its effectiveness. If there is no declaration
before starting the OWAZA, it will be judged as not an OWAZA.
(f) From the semi-finals, you cannot use one of the three major OWAZA used in theprevious (quarter-final). Successful OWAZA`s are prioritized for prohibited OWAZA, but if
there are no successful OWAZA, choose from failed OWAZA. The final match will beselected from the three major OWAZA used in the semi-finals. OWAZA prohibited in thesemi-finals can be used. The prohibited OWAZA shall be declared by the players before thematch.
If you use a prohibited OWAZA, the OWAZA will be rejected and you will get one red cardeach time you use it.
(g) In auto, the robot shall be operated autonomously, the robot shall be activated at thesignal of the referee's preparation, and the robot shall be placed in the direction between
90 ° to the right and 90 ° to the left. The referee will indicate the direction in words. Placethe controller in a position where the referee can be seen on the screen. The referee's first
instruction starts with a signal that the operator reaches out in front of the robot.
·pointThe usual 1 down is 1 point. However, the 1-down OWAZA is 2 points, and the 2-down
OWAZA is 3 points. In the case of auto, 2 points will be given at the start.
-If OWAZA is successful, you cannot use the same OWAZA again during the match. An
OWAZA that fails in a round cannot be used in that round.
·fieldMark the position where the robot stands and the position where the target is placed 50 cm
away with vinyl tape or the like.

・ Game flow
-The order of competition starts from the red corner. The red corner is above or to the leftof the tournament table.
-Stand at least 50 cm away from the dummy robot and walk at least 3 steps to attack at thereferee's first signal.
-If the dummy robot is knocked down by walking, it is judged that the dummy robot hasslipped. Follow the referee's instructions to raise the dummy robot on the spot by hand.
However, the dummy robot should be woken up by the operator himself, and should not betouched by anyone other than the operator including the second. Also, if your robot slips at
the same time, you must get up within 10 counts, just like a normal game slip. If you cannot
get up within 10 counts, the round will be scored 0 and the round will end.
-The rounds will be alternated and will end when the victory or defeat becomes clear.
-If there is a tie, the time until the down is taken alternately is measured, and the one whotakes the down first is the winner. However, if the number of seconds is the same, themeasurement is performed again.
·penalty
Red card: -1 point for the result.
Yellow card: Two cards make a red card.
* A one-down penalty such as getting "time" is equivalent to one red card in remotecompetitions.
6. Regulations for dummy robots
Participants can freely create dummy robots if they follow the contents shown in Fig. 1.
However, those with copyright, those that infringe portrait rights, and those that violate
public order and morals cannot be used.

Figure 3 KHR-3HV waist position
Designated image: Robot image of KHR-3HV
http://bipedrobot.or.jp/upload/dbmaterials/964_9a5be5bdbe61cc18460064f15c7ce21foriginal.pdf

The arm of the dummy robot for Auto should be between the yellow line of KHR-3HV andthe head. And wrap the specified KHR-3HV image around the dummy robot all the way up
and down. In the case of Auto, do not attach the head

7. Special rules for remote environment7-1. Line delay/screen freeze-If the referee and the judges cannot judge due to line delay, it is not considered valid.
-If there is a screen freeze due to the network environment, wait for 2 minutes, and if it does
not recover, the score before the freeze will be used as the qualifying and round score.
-If revived, only that round will be replayed.
-Re-acting due to network malfunction is limited to once. If communication is interrupted
due to the second freeze, you will be disqualified.
7-2. About the arrangement of the camera and microphone-Fix the camera in a position where you can easily see the entire competition.
-The camera image should be a horizontally long screen.
-The distance is the place where the whole body of the robot can enter.
-Do not affect vibration during competition.
-The position and angle of the camera may be changed according to the instructions of thereferee and the judges. Stop the time with the referee's waiting signal, change the camera
position, and start with the first signal.
Prepare a stand with adjustable width and cable length so that you can change the height
and angle of the camera. A device that can be installed independently, such as a WEB
camera, is preferable to a camera fixed to a PC.
-Because it will be delivered by relay, please decorate the background nicely. In addition, it
is prohibited to place anything offensive to public order and morals within the range of thecamera.
-Place the microphone in a location where the operator's voice can be easily heard. If it isdifficult to hear, the examination may be affected, but the referee and the judges do notconsider this.
7-3. About battery replacement-Battery replacement during qualifying is not permitted due to smooth progress.
7-4. If the robot goes out from the ring-If the robot jumps out of the field and cannot be restarted due to a step, etc., declare "ringout" to the referee. The referee's "OK" instruction can return the robot to the field. However,if the robot has fallen, return it to the field in the fallen state. Your robot must get up by
itself during 10 counts. If you cannot get up within 10 counts, the round will be scored 0 andthe round will end.

-If you violate this content, such as touching the robot without reporting, it will be treated as
if it were a yellow card.
7-5. When the dummy robot and the robot are entangled-If the robot and dummy robot get entangled, declare "clinch" to the referee. The robot canbe pulled apart by hand according to the referee's "OK" instruction. In addition, the torquecan be turned off as needed. After that, the dummy robot gets up on the spot by hand. Your
robot must get up by itself during 10 counts. If you cannot get up within 10 counts, theround will be scored 0 and the round will end.
-If you violate this content, such as touching the robot without reporting, it will be treated as
if it were a yellow card.

40th ROBO-ONE
24nd ROBO-ONE Light
Competition Rules

Drafted on February 05, 2022 (changes from the previous version in red)

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

Participation Flow for 40th ROBO-ONE / 24th ROBO-ONE Light
The participation and attendance flow for the 40th ROBO-ONE / 24th ROBO-ONE Light competition
are as follows.
1) Publication of competition rules (2022/02/04)
2) Participation applications received (2022/02/20)
3) First day of the competition (2022/03/05)
・ROBO-ONE Light Standards screening/ Preliminaries
・ROBO-ONE Light Finals Tournament4) The second day of the competition (2022/03/06)
・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 and join
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 bring it.

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 is open to all. There are no nationality
requirements.
Participation applications are only taken on the official ROBO-ONE website (http://www.roboone.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 whenbuilding 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. No one other than the registered operator cansteer the robot.
Explanation 1
Robot and team names can be registered in Japanese, but you must also enter English names.
At international competitions, the English names (letters) are used. The English robot nameshould be easy to read and understand in 14 characters or less. Make sure to check 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 accordance2with 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.
If you participate in ROBO-ONE with auto, you can participate with the auto standard (5 kg or
less). ROBO-ONE can participate with a weight of 4 kg or less. ROBO-ONE Light can also
participate in auto. If the robot weighs less than 1 kg, Light will weigh up to 1.2 kg by adding aboard and sensor. For certified robots, follow the standards for certified robots.
【notice】
From next year, this ROBO-ONE / ROBO-ONE Kendo / ROBO-ONE auto will be 4kg or less.
The next March tournament will be a transition period, and ROBO-ONE / ROBO-ONE Kendo
will be allowed to participate in 4kg or less, and auto will be allowed to participate in 5kg. All
competitions after April 2022 will be 4kg or less.
ROBO-ONE Light will be announced separately.
We kindly ask for your understanding and participation.

4 Preliminaries
In ROBO-ONE's preliminaries and ROBO-ONE Light’s one, places are determined by score ortime, and the top 32(maximum) robots (including the top 3 robots in the world rankings and robots
certified at sanctioned tournaments) move on to 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 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.
3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 ispermitted.
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 isrequired 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.

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.
4Overtimes will not be performed in some cases.
6. Remote competition
In the case of remote competitions, in addition to these competition rules, the competition will
be held in accordance with the attached remote competition rules. In the event of a discrepancy
between this competition rules and the Remote competition rules, the Remote competition rules
will prevail.

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 overwinning 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 by participants.
The decision of referees and judges determine winners and losers. The competition consists ofa 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 the floor
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 for taking
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 and backward
movement and moving in the left-right direction is referred to as left movement and rightmovement. In addition, the rules for front, back, left, and right also apply to each item of thiscompetition 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 to havefeet, two legs, two arms, trunk(torso) and head. Also, the head should be independent of thetorso. The size must be at least 2cm above and below, left and right, and front and back. Eacharm 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 length ismeasured from the axis of forward and back movement at the very top of the leg to the soleof 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 the left
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 foot soles.

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 Z-cm from the center of the servo axis that supports the part that moves
away from the torso as shown in Table 2 by robot weight. The judge will measure the lengthof the arm in the attack state extended back and forth. (see Diagram 6).
9

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.)(b)When using transparent materials such as acrylic plates on the hands of the robot, surround10

the 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 center ofgravity, parts like hands used for attacks must be placed below the axis for moving themaway 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 his hands
12beside the face. In order to adjust the height to the robot, the face and hands may come from the 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 the battery
to prevent shorts and battery damage in normal matches between robots made of metal andplastic, etc. Also, adequately protect circuit boards and power-supply lines. Also, if the wiringis hanged down carelessly, it may be judged as a dangerous condition, so please bundle thewiring 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 thecenter of gravity. Repairs could include screwing the cover down or taping it down with plastic
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 by contact
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.
(c) Robots must not have jamming devices or other devices that intentionally disrupt the13

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 and finals.

4.4

Replicas not allowed

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

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 ROBOONE website. If optional parts are no longer available because of the end of sales, you can
install self-made parts of the same shape and weight.
(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 not enhance
performance, decorating with paper, fabric, plastic, or sponge materials, and changing thesoftware. 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 is permitted.
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
oscillators available.

15

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 is connectedto 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.
If you touch the controller without instructions during the match, you will be eligible for ayellow card. In addition, if the referee or the judge judges that the process is dangerous, suchas when the robot runs out of control during the competition, the robot may be instructed tostop. In that case, the operator should immediately stop it wirelessly or manually. If humans are
at risk, they may be disqualified as a result of consultation.

6

Prelims Format
Preliminaries are done by “4.5m run”, “floor exercise” or “defeat KHR”. You cannot
apply for "Time" in preliminaries

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).
16

(c) Travelling in the direction of the goal must be accomplished by walking only—the left andright foot alternate in being put forward. The feet do not need to alternate if adjusting stayin the lane or change the robot’s direction, etc.
(d) Robots must not move toward the goal when anything other than its feet soles are touching
the ground.
(e) If the robot falls over, it gets up at that spot and continues the competition. If it goes beyond
an obstacle at the time of getting up, it can continue from the place where it got up.
(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 the order.
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 stand upright.
One point will be deducted when not standing upright or not holding for 3 seconds.
17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 the
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 means that both feet are standing without crouching. (See Explanation
16)
Please proceed at your own discretion. The referee calls the result, but there is a time difference.
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 thecheckpoint, 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)

Evaluation point

Stand aOne

Two hands
18

Three

Fall

finger

handpoints(*4)
10 points

4 points

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-backotheronly oneboth hands

rotationthan foothand

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 performancecan 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 the19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".
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 bechanged.
21

(b) The referee issues yellow cards and red cards according to circumstances, but it becomesone 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 round thatis decided by sudden death—whichever robot scores a down first wins. If there is no winnereven after overtime, victory is determined by the judges on points. However, if it is the
Final Tournament, depending on the situation, there may be overtime. Also, when there arelarge 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 of yellow
cards, the number of slips-downs and the number of offenses within the extension time anddecide on winning or losing. At this time the yellow cards in the round will be handed 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 of yellow
cards, the number of slips and the number of offenses within the extension time and decideon winning or losing.
If it is impossible to judge by any means, it will carry out an extension round in the same22

way as "Re-overtime round" above.
(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 or an
agent during the preparation time, we will wait for the participants to be ready. When the
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 match proceedsin 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 and to record theproceedings for video distribution. During finals matches (not including timeouts) and theprelims, 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.
23

If it can’t be modified, it will be knocked out. (Refer to explanation 2 in 4.1)(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 the limitation forthe 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 your opponent'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 a knockout(K.O.), and the other robot is awarded the victory. The count will continue even if the roundhas ended.
24

(d) If robot fall after doing own attack, even opponent go down it is not a "down" but "slip".
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) When participating in ROBO-ONE and ROBO-ONE Light with auto, the robot starts thegame from -1 down. If you participate by auto, you must meet the participation conditionsof ROBO-ONE auto. The auto rule is applied to the robot even during the match.
(h) 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 are placed 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 the referee’s
signal. The penalty is a yellow card. The referee leaves them to move from the intertwined
position to the inside of the ring.
In addition, the venue makes a variety of lighting to improve the entertainment quality andmake it easier to see. Please take countermeasures for this.
(i) Do not attack a robot when it has gone down.
(j)“Give up” may be indicated to the referee during the match. If the referee then judges thatthe match cannot be continued, a “technical knockout” may be declared.

(k) 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 three steps.
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.
(l) 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.
(m) If a part falls off (not including screws), a yellow card is assessed. If the situation is judged
25

to be dangerous, a red card is assessed, and the participant is ordered to make repairs.
(n) Time does not stop unless there is indication from the referee.

8.3

Rules on Downs(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.
(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.

8.4

Taking timeouts(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.

26

8.5.1

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

(a)

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 your robot.
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 hookto 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 foryellow 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

Without yaw axis
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 at thesame 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. In the kicking motion, only the robot's sole of the foot must touch the ring until the
opponent is kicked.
(d) Own robot rotates back and forth 180 degrees or more, and the attacks to defeat the
opponent during the rotation is Owaza.
28

(e) For the Owaza, it is excluded from the lateral attacks and sacrifice attacks. Crouchingattacks are prohibited, but this does not apply if crouching movements are included during
the attack. You may crouch and walk up to 3 steps just before the attack.
In addition, lateral attacks, sacrifice attacks, and crouching in "Owaza" are not fouls even
if they fail.
Explanation 24-2
The waist positions in (b) and (c) refer to above the axis that moves back and forth as shownin Explanation 3.
The criterion (e) is to allow a crouching motion to occur momentarily at the beginning of amotion such as back drop. A technique that completes a series of actions while crouching is
judged to be a crouching attack.
Momentary crouching motion refers to the crouching motion when the motion is not stopped.
For example, crouching, holding an opponent, moving the centre of gravity, lifting, etc. are
included in a momentary crouching motion.

(f) Owaza with lateral attacks or sacrifice attacks includes overtime, same attacks can be used
only once in one game regardless of whether it is valid or invalid.

Explanation 25
If any of 8.5.5 a). b). c). d) is satisfied, the Owaza will be recognized by the judge.
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 is given
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 and judges.
In the case of a new Owaza, or if the referee cannot make a clear decision, the referee andjudges make the decision. The following are "OWAZA" and the number of downs. You
should consider the risk that a move may not be recognized as Owaza before taking up thechallenge.
・Back-drop-----2 downs

When robot lifts the opponent and throw it behind and tach to the ring, Backdrop is enabled29

if the top of the opponent's torso exceeds the head of your robot and hits the ring before yourrobot. The same technique applies to throwing forward, backward, left and right.
・Shoulder throw-----2 downs

It is effective when your robot carries the opponent on his back, throws it, the opponent falls
forward, and the opponent's back touches the ring.
・Leg sweep-----2 downs

While standing, it is effective when both feet of the opponent float in the air by the foot sweep
technique.
・Overhead throw-----2 downs

It is effective when the opponent is lifted up with his / her foot and the opponent rotates 180 °or more and the opponent touches the ring from the back.
・Forward rotation kick -----1 down (Backward rotation kick and Side rotation kick are also
1 down)
It is effective when your robot rotates forward and kick and defeat the opponent during
rotation. The same technique applies to backflip kicks and cartwheel kicks.
・High kick-----1 downs

Raise your robot feet higher than your robot hips and make sure that only your robot feet(sole)
touch the ring until your robot kicks.
・ Heel drop----- 1 down

Raise your foot higher than the waist of your robot, squeeze the heel of your robot's footagainst the head of the opponent's robot in front of your robot, and hit the attack to defeat the
opponent's robot. If so, the technique is valid. Make sure that only the soles of your robot's
feet touch the ring until you kick it.
However, it may be 1 down depending on the degree of difficulty of the technique.

9.Objection
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 to offer after the signalof "waiting" "stop" of the referee. The operator raises his / her hand and in large loud voice pleaseoffers 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.
In addition, oppositions and deliberations shall be conducted within 2 minutes, and oppositions longer
than 2 minutes will not be accepted. If a relentless claim to the judges is determined to be a delay inthe match, you may be sent off.
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 entered closed
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 ready31

Point to the operator.
· 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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