Model and Behavior-Based Robotic Goalkeeper
نویسندگان
چکیده
This paper describes the design, implementation and test of a goalkeeper robot for the Middle-Size League of RoboCup. The goalkeeper task is implemented by a set of primitive tasks and behaviors, coordinated by a 2-level hierarchical state machine. The primitive tasks concerning complex motion control are implemented by a non-linear control algorithm, adapted to the di erent task goals (e.g., follow the ball or intercept the ball). One of the top level behaviors regularly determines the robot posture from local features extracted from images acquired by a catadioptric omni-directional vision system. Most robot parameters were designed based on simulations carried out with the Hybrid Automata Matlab/Simulink toolbox CheckMate. Results obtained with the actual goalkeeper are presented and discussed.
منابع مشابه
Soccer Goalkeeper Task Modeling and Analysis by Petri Nets
In a robotic soccer team, goalkeeper is an important challenging role, which has different characteristics from the other teammates. This paper proposes a new learning-based behavior model for a soccer goalkeeper robot by using Petri nets. The model focuses on modeling and analyzing, both qualitatively and quantitatively, for the goalkeeper role so that we have a model-based knowledge of the ta...
متن کاملFinite Element Simulation of Contact Mechanics of Cancer Cells in Manipulation Based on Atomic Force Microscopy
The theory of contact mechanics deals with stresses and deformations which arise when the surfaces of two solid bodies are brought into contact. In elastic deformation contact occurs over a finite area. A regular method for determining the dimensions of this area is Hertz Contact Model. Appearance of atomic force microscope results in introduction of Contact ...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملDynamics and Motion Control of Wheeled Robotic Systems
Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...
متن کاملMotion Optimization of Humanoid Robot Soccer “Goalkeeper” Using Behavior Based Coordination
Accuracy and speed of movement is required for a goalkeeper robot in the Robocup soccer competition. Moreover, instability and robustness of goalkeeper robot is often a problem in itself that often arise especially if the robot is a humanoid robot. There are various methods on how to improve the performance of movement of humanoid robot have been actively studied. So now we propose how to optim...
متن کامل