RoboCup is a platform designed to promote the research related to Artificial Intelligence (AI) and robotics. We also organize a RoboCup soccer team "Hibikino-Musashi" and working on co-operated behavior control system using multiple autonomous mobile robots. In order to realize co-operated behavior in the soccer game, the ball handling system is one of the important issues for dribbling and passing the ball to teammate robots. In this paper, a control method of the ball rotation using two active wheels, which are attached in front of the soccer robot and designed to have friction on the upper side of the ball, is proposed. The forward and inverse kinematics between the ball-motion and two active wheels are derived, and the ball handling mechanism is developed and evaluated based on the results of simulations and experiments.
Chikoshi et al. REF got the forward and inverse kinematics equation between the ball-motion and two active wheels, and used experiments to evaluate this method.
Ball Dribbling Control for RoboCup Soccer Robot
Proceedings of International Conference on Artificial Life and Robotics
Proceedings of International Conference on Artificial Life and Robotics
Computer Science