A Goal Keeper for Middle Size Robocup
In real soccer goal keeper has a completely different behavior that the players. Thus we designed our goal keeper with some basic ideas taken from real soccer, which is moving mainly in goal area and using arms to take the balls. Our goal keeper has a mov
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Computer Engineering Deptartment Sharif University of Technology Tehran, Iran.
[email protected] http://www.sharif.ac.ir/~ ceinfo
Mechanical Engineering Deptartment Sharif University of Technology Tehran, Iran.
http://www.sharif.ac.ir/~mechinfo
Abstract. In real soccer goal keeper has a completely di erent behav-
ior that the players. Thus we designed our goal keeper with some basic ideas taken from real soccer, which is moving mainly in goal area and using arms to take the balls. Our goal keeper has a moving mechanism based on 8 motors which enables it to move forward/backward, straight left/right and rotate around its geometrical center, and a sliding arm which moves toward the direction of ball faster than the robot body. Using 3 CCD cameras in front and rear left and right provides the goal keeper with a view of about 210 degrees.
1 Introduction Since the basic design of our player robots remained unchanged from that of previous year, [1], we decided to focus on the goal keeper. As in real soccer we think a goal keeper robot should have a completely di erent mission from the player robot. It should be able to move in any direction and use its hands to get the ball and also use its hands and feet to kick the ball. With these mechanisms in mind we designed and constructed our goal keeper in such a way that it provided us with all necessary movements for the robot body and also a sliding arm with a special design to move left or right much faster than the robot body for getting the ball and also kicking it. Since in general, mechanical movements are relatively slow in robots, thus if the goal keeper makes angular movements to look for the ball, not only it will be time consuming but also due to inexact movements after some short period of time the goal keeper might nd itself in an unsafe position. Therefore, to cover a wide angle of view, it is better to use multiple cameras than angular movements of robot body itself. P. Stone, T. Balch, and G. Kraetzschmar (Eds.): RoboCup 2000, LNAI 2019, pp. 583-586, 2001. c Springer-Verlag Berlin Heidelberg 2001
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2 Goal Keeper Motion Mechanism Because the goal keeper should keep the goal, it seems that fast and deviation less horizontal movement in front of goal area is a great advantage for it. Therefore, in order to guarantee a nearly perfect horizontal movement for the goal keeper, 4 drive units are installed in the robot (the castor wheel which is used in our player robots [1] has been eliminated because it causes deviation in the robot movements). However, even using 4 drive units, in practice the robot will be displaced after some movements, thus it should have the ability to adjust itself when displaced. Horizontal movements and self adjustment can be done by a combination of the following three basic movements: 1. Move forward and backward (Fig. 1-a). 2. Rotate around its geometrical center (Fig. 1-b). 3. Move straight towards left and right (Fig. 1-c).
Fig. 1. Goal keeper drive units In order for the robot to perform these move
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