Abstract
This paper describes a model of passer's kick behavior considering cooperative pass play for a RoboCup middle size soccer player agent. In the RoboCup middle size league, realization of advanced cooperative pass play with improvement of players' autonomy is expected. However, such advanced pass play couldn't be seen yet in a present RoboCup game. Generally, it is necessary to control a landing position of kicked ball by a passer for an effective pass in soccer game. Therefore, a kick behavior of passer was modeled to realize advanced cooperative pass play in this paper. A passer's behavior was modeled based on mechanical features of a kick device installed on a player robot. Experimental results showed that a ball can be controlled for pass to an arbitrary position by using a proposed model.
