RoboCup 2021 Qualification
a) Team Description Paper
b) Scientific Papers
- Moeko TOMIANGA, Yasunori TAKEMURA, Kazuo ISHII,"Behavior Selection System for Human-Robot Cooperation Using Tensor SOM", Journal of Robotics，Networking and Artificial Life，Vol .7(2)，September(2020)，pp.81-85
Abstract: With the progress of technology, the realization of a symbiotic society with human beings and robots sharing the same environment has become an important subject. An example of this kind of systems is soccer game. Soccer is a multi-agent game that requires strategies by taking into account each member's position and actions. In this paper, we discuss the results of the development of a learning system that uses self-organizing map to select behaviors depending on the situation. A set of possible actions in soccer game is decided in advance and the algorithm is able to select the best option, given some specific conditions.
- Kenji KIMURA, Shota CHIKUSHI, Kazuo ISHII,"Evaluation of the Roller Arrangements for the Ball-Dribbling Mechanisms Adopted by RoboCup Teams", Journal of Robotics，Networking and Artificial Life，Vol .6(3)，December(2019),pp.183-190
Abstruct: The middle-size league soccer competition is an important RoboCup event designed to promote advancements in Artificial Intelligence (AI) and robotics. In recent years, soccer robots using a dribbling mechanism, through which the ball is controlled using two driving rollers, have been adopted by teams worldwide. A survey conducted during the 2017 World Cup in Nagoya revealed that the teams determined their roller arrangements heuristically without the use of a formal mathematical process. In this study, we focus on sphere slip speed to develop a mathematical model for sphere rotational motion, allowing for slip. Using this framework, we derived the relationship between the sphere slip and mobile speeds and evaluated the roller arrangements used by the participating team
- Kenji KIMURA, Shota CHIKUSHI, Kazuo ISHII,"Novel Mathematical Modeling and Motion Analysis of a Sphere Considering Slipping ", Journal of Robotics，Networking and Artificial Life，Vol .6(1)，June(2019),pp.27-32
Abstruct: Many mobile robots that use spherical locomotion employ friction-drive systems because such systems offer omnidirectional locomotion and are more capable of climbing steps than omni-wheel systems. One notable issue associated with friction-drive systems is slipping between the sphere and the roller. However, previously established sphere kinematics models do not consider slipping. This study proposes a mathematical model that allows for slipping and can be broadly applied to a variety of mobile robots in a range of situations.
- Shota CHIKUSHI, Tharindu WEERAKOON, Takashi SONODA, Kazuo ISHII, "Kinematics of Two-Roller-Driven Ball for RoboCup Soccer Robot", Journal of Robotics, Networking and Artificial Life, Vol. 4(3),December(2017), pp.248-253
Abstruct: RoboCup is a competition designed to promote the research related to Artificial Intelligence (AI). We have also organized a RoboCup soccer team "Hibikino-Musashi" and work on one of AI research topics, co-operated behavior control system using multiple autonomous mobile robots. In order to realize co-operated behavior in the soccer game, the research of ball handling system is one of the important issues capable of dribbling with a ball and passing the ball to teammate robots. In this paper, the kinematics of a two-roller-drive ball controller, which are attached in front of the soccer robot and designed to have friction on the upper side of the ball, is proposed. The forward and inverse kinematics between the ball-motion and two active rollers are derived, and the ball control mechanism has been developed and evaluated based on the results of simulations and experiments.
- Shota CHIKUSHI, Tharindu WEERAKOON, Kazuo ISHII, Takashi SONODA,"Motion Analysis and Control of the Ball Operation for Dribbling Action in RoboCup Soccer Robot", Proceedings of the 8th International Conference on Soft Computing and Intelligent Systems and 17th International Symposium on Advanced Intelligent Systems (SCIS&ISIS2016), August(2016), pp.532-536
Abstruct: RoboCup is a platform designed to promote the fields such as Artificial Intelligent (AI) and robotics for researchers. As a team "Hibikino-Musashi" participating for RoboCup Middle-Size League soccer competition, we continuously upgrade the technology of our robots. In this paper, motion analysis and control of the ball operation at the time of ball dribbling is discussed. A ball handling mechanism is proposed based on the geometrical information of the robot and analysis is given in detail. A mathematical explanation of the control system is provided along with simulation studies performed in MATAB environment. Results have been evaluated to demonstrate the capability of controlling the motion of the ball and expected control could be achieved without prior calibration of the ball handling mechanism.
c) Results and Awards
World Championship Sydney: 8th place
Japan Open in Kanazawa: 1st place
Asia-Pacific in Kish: 2nd place
Japan Open in Ogaki: 2nd place
Asia-Pacific in Bangkok: 2nd place
Iran Open in Theran: 2nd place
World Championship Nagoya: 7th place
World Championship Nagoya Technical Challenge: 7th place
Japan Open in Kanazawa: 2nd place
Japan Open in Kanazawa Technical Challenge: 1st place
World Championship Leipzig: 6th place
World Championship Leipzig Technical Challenge: 4th place
World Championship Leipzig Free Challenge: 7th place
Japan Open in Nagoya: 1st place
Japan Open in Nagoya Technical Challenge: 2nd place
e) Contributions of the RoboCup MSLCommunity
RoboCup WorldCup MSL Organizing Committee Member: Moeko Tominaga
RoboCup Sydney MSL Organizing Committee Member: Moeko Tominaga
RoboCup Nagoya MSL Organizing Committee Member: Moeko Tominaga
RoboCup Nagoya MSL Technical Committee Member: Shota Chikushi
RoboCup Leipzig MSL Executive Committee Member: Yasunori Takemura RoboCup Leipzig MSL Organizing Committee Member: Shota Chikushi
RoboCup Hefei MSL Executive Committee Member:YasunoriTakemura RoboCup Hefei MSL Technical Committee Member: Shota Chikushi
f) Declaration of a mixed team
Our team will not join the mixed team.
g) Declaration of 802.11b access-point.
h) Mechanical and Electrical Description together with a Software Flow Chart
Kyushu institute of Technology has the intellectual property right. So, we can not open our sourse code freely. But we will try to share the infomation with MSL members.