Abstract
As a practical way of achieving “Athletic Intelligence(AI)”, we have tried to build a robot capable of playing soccer. In this paper, we made a mobile robot that can shoot and dribble a ball. In order to shoot the rolling ball, the robot must predict the future position of the ball so that it can move ahead of the ball. That is, the robot should be controlled by feedforward control rather than feedback control because feedback control does not allow enough time to catch the ball. Therefore, we think that it is important that the robot has internal model with which it can predict the target position. As long as the ball is within the field of view, the robot is under feedforward control. At the final stage of shooting, control is switched to feedback to minimum errors. When dribbling the ball through the flags, the robot must move without touching the flags and also keep the ball in front under feedback control. Since the robot has an internal model, it should follow the target using feedback control. We have checked that proper use of both control improves the two athletic movements so the robot must have an internal model that can predict the future state of the target object.
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© 1998 Springer-Verlag Berlin Heidelberg
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Kourogi, M., Kawamoto, Y., Muraoko, Y. (1998). A method applied for soccer's behaviors using proper feedback and feedforward control. In: Kitano, H. (eds) RoboCup-97: Robot Soccer World Cup I. RoboCup 1997. Lecture Notes in Computer Science, vol 1395. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-64473-3_57
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DOI: https://doi.org/10.1007/3-540-64473-3_57
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