Segway CM-RMP Robot Soccer Player

The Segway Human Transporter (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 describe the rules of the game, the capabilities and limitations of the Segway, the mechanical systems necessary to create a robot Segway Soccer Player, a detailed analysis of several ball manipulation/kicking systems, and the implementation results of the CM-RMP Robot Soccer Player Pneumatic Ball Manipulation System.