Abstract
In this paper, a control strategy of RoboCup throw-in technical challenge for small-sized humanoid robot is proposed. Throw-in is one of the technical challenges of RoboCup competition, which is a well-known robot competition held annually in different countries. To complete this challenge, the robot must possess object detection ability, stable walking ability, ball-holding ability, and ball-throwing ability. Hence, a small-sized humanoid robot, aiRobots-V, is presented to accomplish the throw-in challenge. Moreover, the control strategy and the abilities mentioned above are introduced. The experiment results demonstrate the performance of the proposed method. Furthermore, aiRobots-V won the second place in this technical challenge of RoboCup soccer game.
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Acknowledgments
This work supported by Ministry of Science and Technology of Taiwan, R.O.C, Grants MOST 103-2221-E-006-252, MOST 104-2221-E-006-228 -MY2, and the aim for the Top University Project to the National Cheng Kung University (NCKU) are greatly appreciated.
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Ho, YF., Kuo, PH., Chong, KY., Li, TH.S. (2017). Control Strategy Design for Throw-in Challenge in a Humanoid Robot Soccer Game. In: Kim, JH., Karray, F., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 4. Advances in Intelligent Systems and Computing, vol 447. Springer, Cham. https://doi.org/10.1007/978-3-319-31293-4_9
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DOI: https://doi.org/10.1007/978-3-319-31293-4_9
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