Turning Segways into Robust Human-Scale Dynamically Balanced Soccer Robots

The Segway Human Transport (HT) is a one person dynamically selfbalancing transportation vehicle. The Segway Robot Mobility Platform (RMP) is a modification of the HT capable of being commanded by a computer for autonomous operation. With these platforms, we propose a new domain for human-robot coordination through a competitive game: Segway Soccer. The players include robots (RMPs) and humans (riding HTs). The rules of the game are a combination of soccer and Ultimate Frisbee rules. In this paper, we provide three contributions. First, we describe our proposed Segway Soccer domain. Second, we examine the capabilities and limitations of the Segway and the mechanical systems necessary to create a robot Segway Soccer Player. Third, we provide a detailed analysis of several ball manipulation/kicking systems and the implementation results of the CM-RMP pneumatic ball manipulation system.