RoboCup 2013: Robot World Cup XVII by Sven Behnke, Manuela M. Veloso, Arnoud Visser, Rong Xiong

By Sven Behnke, Manuela M. Veloso, Arnoud Visser, Rong Xiong

This ebook contains the completely refereed post-conference court cases of the seventeenth Annual RoboCup overseas Symposium, held in Eindhoven, The Netherlands, in June 2013. The 20 revised papers awarded including eleven champion workforce papers, three most sensible paper awards, eleven oral displays, and 19 distinct tune on open-source demanding- and software program papers have been conscientiously reviewed and chosen from seventy eight submissions. The papers current present examine and academic actions in the fields of robotics and synthetic intelligence with a different concentration to robotic and software program, notion and motion, robot cognition and studying, multi-robot structures, human-robot interplay, schooling and edutainment, and applications.

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We also assume an imaginary ’joint’ with zero degrees of freedom between the ground and the support foot. Because the support foot does not move, the torque and force exerted on the support foot via the imaginary joint must be the reactions to the torque and force of the support foot and thus −τ and f r in (8). Since we do not need to know the forces transmitted by the real joints of the robot, we use a simplified version of the RNEA by Fang et al. [5], which only propagates the aggregated momenta and forces from the leaves of the tree to the root.

Since the support foot has no velocity and acceleration during the kick, it serves as the root of the kinematic tree, which is used by the RNEA to calculate the torques and forces across the joints. We also assume an imaginary ’joint’ with zero degrees of freedom between the ground and the support foot. Because the support foot does not move, the torque and force exerted on the support foot via the imaginary joint must be the reactions to the torque and force of the support foot and thus −τ and f r in (8).

R¨ ofer If s2 gets too close to the support leg side of the pelvis or even enters it, it is pulled back on the kick direction line as pictured in Fig. 1b, so that a small safety margin to the support leg remains and collisions between the kick foot and the support leg are avoided. Aside from the ball position and the kick direction, the user of the kick engine also specifies the duration T of the kick foot motion and the speed v the kick foot should have when the ball is hit. This information is used to determine the durations of the individual pieces of the curve.

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