Mechatronic Design of a Dribbling System for RoboCup Small Size Robot
This addresses the problem of enabling advanced soccer skills like trapping and dribbling for RoboCup SSL robots, representing an incremental improvement in a domain-specific context.
The paper tackled the design of a dribbling system for RoboCup Small Size League robots by developing a mechatronic design based on a 3-touch-point model and a reinforcement learning control algorithm, and verified the results on a robot.
RoboCup SSL is an excellent platform for researching artificial intelligence and robotics. The dribbling system is an essential issue, which is the main part for completing advanced soccer skills such as trapping and dribbling. In this paper, we designed a new dribbling system for SSL robots, including mechatronics design and control algorithms. For the mechatronics design, we analysed and exposed the 3-touch-point model with the simulation in ADAMS. In the motor controller algorithm, we use reinforcement learning to control the torque output. Finally we verified the results on the robot.