DocumentCode
2917660
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
fYear
2008
fDate
17-20 Dec. 2008
Firstpage
2060
Lastpage
2065
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICARCV.2008.4795848
Filename
4795848
Link To Document