Authors
Shota Chikushi, Tharindu Weerakoon, Takashi Sonoda, Kazuo Ishii
Corresponding Authors
Shota Chikushi, Tharindu Weerakoon
Available Online 1 December 2017.
DOI
https://doi.org/10.2991/jrnal.2017.4.3.15How to use a DOI?
Keywords
RoboCup, kinematics of two-roller-drive ball controller, ball control mechanism
Abstract
RoboCup is a competition designed to promote the research related to Artificial Intelligence (AI). We have also organized a RoboCup soccer team "Hibikino-Musashi" and work on one of AI research topics, co-operated behavior control system using multiple autonomous mobile robots. In order to realize co-operated behavior in the soccer game, the research of ball handling system is one of the important issues capable of dribbling with a ball and passing the ball to teammate robots. In this paper, the kinematics of a two-roller-drive ball controller, which are attached in front of the soccer robot and designed to have friction on the upper side of the ball, is proposed. The forward and inverse kinematics between the ball-motion and two active rollers are derived, and the ball control mechanism has been developed and evaluated based on the results of simulations and experiments.

Copyright
© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).