相关论文: A Hierarchical, Model-Based System for High-Perfor…
Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs to simultaneously: 1) transfer high kinetic energy to the…
In 2023, Rhoban Football Club reached the first place of the KidSize soccer competition for the fifth time, and received the best humanoid award. This paper presents and reviews important points in robots architecture and workflow, with…
In this paper we detail the methods used for obstacle avoidance, path planning, and trajectory tracking that helped us win the adult-sized, autonomous humanoid soccer league in RoboCup 2024. Our team was undefeated for all seated matches…
Soccer Simulation 2D League is one of the major leagues of RoboCup competitions. In a Soccer Simulation 2D (SS2D) game, two teams of 11 players and one coach compete against each other. The players are only allowed to communicate with the…
Controlling soccer robots involves multi-time-scale decision-making, which requires balancing long-term tactical planning and short-term motion execution. Traditional end-to-end reinforcement learning (RL) methods face challenges in complex…
The RoboCup competitions hold various leagues, and the Soccer Simulation 2D League is a major one among them. Soccer Simulation 2D (SS2D) match involves two teams, including 11 players and a coach, competing against each other. The players…
Intelligent behaviour in the physical world exhibits structure at multiple spatial and temporal scales. Although movements are ultimately executed at the level of instantaneous muscle tensions or joint torques, they must be selected to…
The RoboCup competition was started in 1997, and is known as the oldest RoboCup league. The RoboCup 2D Soccer Simulation League is a stochastic, partially observable soccer environment in which 24 autonomous agents play on two opposing…
Physically-realistic simulated environments are powerful platforms for enabling measurable, replicable and statistically-robust investigation of complex robotic systems. Such environments are epitomised by the RoboCup simulation leagues,…
We introduce an analytic method for generating a parametric and constraint-aware kick for humanoid robots. The kick is split into four phases with trajectories stemming from equations of motion with constant acceleration. To make the motion…
RoboCup is an international scientific robot competition in which teams of multiple robots compete against each other. Its different leagues provide many sources of robotics data, that can be used for further analysis and application of…
The ability for an autonomous agent to self-localise is directly proportional to the accuracy and precision with which it can perceive salient features within its local environment. The identification of such features by recognising…
Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. Current solutions, whether traditional position-based control…
This article is devoted to the features that were under development between RoboCup 2019 Sydney and RoboCup 2021 Worldwide. These features include vision-related matters, such as detection and localization, mechanical and algorithmic…
This paper considers a problem of planning an attack in robotic football (RoboCup). The problem is reduced to finding a trajectory of the ball from its current position to the opponents goals. Heuristic search algorithm, i.e. A*, is used to…
In soccer, scoring goals is a fundamental objective which depends on many conditions and constraints. Considering the RoboCup soccer 2D-simulator, this paper presents a data mining-based decision system to identify the best time and…
We present a reinforcement learning framework for autonomous goalkeeping with humanoid robots in real-world scenarios. While prior work has demonstrated similar capabilities on quadrupedal platforms, humanoid goalkeeping introduces two…
In the current level of evolution of Soccer 3D, motion control is a key factor in team's performance. Recent works takes advantages of model-free approaches based on Machine Learning to exploit robot dynamics in order to obtain faster…
Humanoid robots hold great promise in assisting humans in diverse environments and tasks, due to their flexibility and adaptability leveraging human-like morphology. However, research in humanoid robots is often bottlenecked by the costly…
This article describes the design and development of robotic prototypes for robotic soccer competitions using Dynamixel motors. Although the prototypes are not aimed at world-class competitions, they represent a significant step in the…