Title :
An active ball handling mechanism for RoboCup
Author :
De Best, Jeroen ; van de Molengraft, Rene
Author_Institution :
Dept. of Mech. Eng., Eindhoven Univ. of Technol., Eindhoven
Abstract :
This paper describes a new active ball handling method for the RoboCup mid-size league as used by team Tech United at Eindhoven University of Technology. A theoretical model is derived followed by the control design including a feedback controller and a feedforward controller. The proposed control design is validated with the Tech United soccer robots. The results of several tests show the effectiveness of the new ball handling design.
Keywords :
control system synthesis; feedback; feedforward; mobile robots; multi-robot systems; RoboCup; Tech United soccer robots; active ball handling mechanism; control design; feedback controller; feedforward controller; Control design; Mobile robots; Motion planning; Paper technology; Robot control; Robot sensing systems; Robotics and automation; Testing; Trajectory; Wheels; Real-time control; RoboCup; Robotics;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795848
