Authors
Kenji Kimura1, *, Shota Chikushi2, Kazuo Ishii1
1Graduate School of Life Science and Engineering, Kyusyu Institute of Technology, 2-4 Hibikino, Wakamatsu-ku, Kitakyushu 808-0196, Fukuoka, Japan
2Department of Precision Engineering, The University of Tokyo, Hongo 7-3-1, Bunkyo-ku 113-8656, Tokyo, Japan
*Corresponding author. Email: [email protected]
Corresponding Author
Kenji Kimura
Received 10 November 2018, Accepted 20 November 2018, Available Online 24 December 2019.
DOI
https://doi.org/10.2991/jrnal.k.191203.002
Keywords
The ball-dribbling mechanism; sphere slip velocity; sphere mobile speed efficiency
Abstract
The middle-size league soccer competition is an important RoboCup event designed to promote advancements in Artificial Intelligence (AI) and robotics. In recent years, soccer robots using a dribbling mechanism, through which the ball is controlled using two driving rollers, have been adopted by teams worldwide. A survey conducted during the 2017 World Cup in Nagoya revealed that the teams determined their roller arrangements heuristically without the use of a formal mathematical process. In this study, we focus on sphere slip speed to develop a mathematical model for sphere rotational motion, allowing for slip. Using this framework, we derived the relationship between the sphere slip and mobile speeds and evaluated the roller arrangements used by the participating teams.
Copyright
© 2019 The Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).


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