Automatic Control of Ball Holding Mechanism for RoboCup MSL

Abstract

In recent years, a number of technology challenges have been conducted to develop and disseminate technology through competitive robotics. One of these challenges is the RoboCup Middle Size League, a soccer competition using autonomous mobile robots. Ball manipulation, such as passing and dribbling, is one of the most important factors for soccer robots to gain an advantage in a game. The soccer robot developed in this study is equipped with a ball holding mechanism using tires, but it has a problem that its ball catching ability is low. In this study, we propose a dual-damper retention mechanism, and confirm the improvement of holding and catching ability, and verify dribbling.