Motion Analysis and Control of the Ball Operation for Dribbling Action in RoboCup Soccer Robot

摘要

RoboCup is a platform designed to promote the fields such as Artificial Intelligent (AI) and robotics for researchers. As a team "Hibikino-Musashi" participating for RoboCup Middle-Size League soccer competition, we continuously upgrade the technology of our robots. In this paper, motion analysis and control of the ball operation at the time of ball dribbling is discussed. A ball handling mechanism is proposed based on the geometrical information of the robot and analysis is given in detail. A mathematical explanation of the control system is provided along with simulation studies performed in MATAB environment. Results have been evaluated to demonstrate the capability of controlling the motion of the ball and expected control could be achieved without prior calibration of the ball handling mechanism.