Abstract
In this paper, we describe the concept, design and implementation of a series of autonomous mobile soccer robots, named Musashi robots, which are designed referring ISO safety standards and have mechatronics modular architecture. The robots are designed to participate in the RoboCup Middle Size League. Using a modular design philosophy, we show that the selection of a proper moving mechanism, a suitable vision system and a mechatronics modular architecture design can lead to the realization of a reliable, simple, and low cost robot when compared with most car-like robots that include many kinds of sensors and have a complex design structure.
Similar content being viewed by others
References
RoboCup Official Homepage, [2008-08-24], http://www.robocup.org/
Matsubara H, Asada M, Kuniyoshi Y, Noda I, Osawa E. The robocup: The robot world cup initiative. Proceedings of the First International Conference on Autonomous Agents, Marina del Rey, California, United States, 1997, 340–347.
Ichinose T, Takemura Y, Azeura K, Godler I. HIBIKINOMUSA SHI, RoboCup 2006 Bremen. CD-ROM Proc. of RoboCup 2006, Germany, 2006.
Bredenfeld A, Barakova E, Vecanovic B, Christaller T. GMD-Musashi team description. Proceddings of RoboCup 2003, Italy, 2003.
Peijnenburg A T A, Veldhuis G P, Warmerdam T P H. Philips CFT RoboCup Team description. In preliminary proceedings of 2002 RoboCup conference, 2002.
Riberio F A, Braga P, Monteiro J, Moutinho I, Silva P, Silva V. New improvements of MINHO team for robocup middle size league in 2003. CD-ROM Proceedings of RoboCup 2003, Padova, 2003.
Nassiraei A A F. Concept of Intelligent Mechanical Design for Autonomous Mobile Robots, PhD Dissertation, Kyushu Institute of Technology, Fukuoka, 2007.
Nassiraei A A F, Ishii K. Concept of intelligent mechanical design for autonomous mobile robots. Journal of Bionic Engineering, 2007, 4, 217–226.
Nassiraei A A F, Takemura Y, Sanada A, Kitazumi Y, Ogawa Y, Godler I, Ishii K, Miyamoto H, Ghaderi A. Concept of mechatronics modular design for an autonomous mobile soccer robot. CIRA 2007, 2007, 178–183.
Buchhei T, Kappeler U P, Lafrenz R, Oubbati M, Rajaie H, Schanz M, Schreiber F, Zweigle O, Levi P. Team description paper 2005 CoPS Stuttgart. CD-ROM Proceedings of RoboCup 2005, Osaka, 2005.
ISO 12100-2: Safety of machinery - Basic concepts, general principles for design - Part 2: Technical principles, 2003.
ISO10218-1: Robots for industrial environments - Safety requirements - Part 1: Robot, 2006.
ISO 14121-1: Safety of machinery - Risk assessment - Part 1: Principles, 2007.
ISO/TR 14121-2: Safety of machinery - Risk assessment - Part 2: Practical guidance and examples of methods, 2007.
Asada M, Kitano H. Overview of RoboCup98. Proceedings of the Second RoboCup Workshop, Paris, France, 1998.
Nassiraei A A F, Masakado S, Matsuoa T, Ichikawaa K, Fukushimaa H, Murataa M, Sonodaa T, Takahiraa I, Yamashitaa M, Satoa M, Ishiia K, Mikia T, Yagic T, Mayerc N, Ura T. Development of an artistic robot “Jumping Joe”. Proceedings of IEEE IROS 2006, 2006, 1291, 281–284.
Nassiraei A A F, Ishii K, Masakado T, Matsuo T, Ichikawa K, Fukushima H, Murata M, Sonoda T, Takahira I, Miki T. Realization of rapid movement for legged entertainment robots using two new actuators, the inertia actuator and the cam charger. Journal of Advanced Computational Intelligence and Intelligent Informatics, 2007, 11, 979–988.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Takemura, Y., Ogawa, Y., Nassiraei, A.A.F. et al. A System Design Concept Based on Omni-Directional Mobility, Safety and Modularity for an Autonomous Mobile Soccer Robot. J Bionic Eng 5 (Suppl 1), 121–129 (2008). https://doi.org/10.1016/S1672-6529(08)60082-7
Published:
Issue Date:
DOI: https://doi.org/10.1016/S1672-6529(08)60082-7