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Kick it with elasticity: Safety and performance in human robot soccer

Haddadin, Sami and Laue, Tim and Frese, Udo and Wolf, Sebastian and Albu-Schäffer, Alin and Hirzinger, Gerd (2009) Kick it with elasticity: Safety and performance in human robot soccer. Robotics and Autonomous Systems, 57, pp. 761-775. Elsevier. DOI: 10.1016/j.robot.2009.03.004.

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Abstract

The RoboCup community has one definite goal [H. Kitano, M. Asada, RoboCup humanoid challenge: That's one small step for a robot, one giant leap for mankind, in: IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS1998, Victoria, pp. 419�424, 1998]: winning against the human world soccer champion team by the year 2050. This implies real tackles and fouls between humans and robots, rising safety concerns for the robots and even more important for the human players. Nowadays, similar questions are discussed in the field of physical human�robot interaction (pHRI), but mainly in the context of industrial and service robotics applications. The first part of our paper is an attempt for a pHRI view on human�robot soccer. We take scenes from real soccer matches and discuss what could have happened if one of the teams consisted of robots instead of humans. The most important result is that elastic joints are needed to reduce the impact during collisions. The second and third part consider conversely, how the robot can handle the impact of kicking the ball and how it can reach the velocity of human-level soccer. Again joint elasticity is the key point. Overall, the paper analyzes a vision far ahead. However, all our conclusions are based on concrete simulations, experiments, derivations, or findings from sports science, forensics, and pHRI.

Document Type:Article
Title:Kick it with elasticity: Safety and performance in human robot soccer
Authors:
AuthorsInstitution or Email of Authors
Haddadin, SamiSami.Haddadin@DLR.de
Laue, TimDFKI
Frese, UdoDFKI
Wolf, SebastianSebastian.Wolf@DLR.de
Albu-Schäffer, AlinAlin.Albu-Schaeffer@DLR.de
Hirzinger, GerdGerd.Hirzinger@DLR.de
Date:31 July 2009
Journal or Publication Title:Robotics and Autonomous Systems
Refereed publication:Yes
In SCOPUS:Yes
In ISI Web of Science:Yes
Volume:57
DOI:10.1016/j.robot.2009.03.004
Page Range:pp. 761-775
Publisher:Elsevier
Status:Published
Keywords:RoboCup, Human_robot soccer, Safe robot, Kicking, Elastic joints, Variable stiffness actuation
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:13 Jan 2010 12:53
Last Modified:12 Dec 2013 20:51

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