| Publication type: |
Article |
| Author: |
S. Haddadin, T. Laue, U. Frese, S. Wolf, A. Albu-Schäffer, G. Hirzinger |
| Title: |
Kick it with Elasticity: Safety and Performance in Human-Robot Soccer |
| Volume: |
57 |
| Page(s): |
761 – 775 |
| Journal: |
Robotics and Autonomous Systems, Special Issue on Humanoid Soccer Robots |
| Number: |
8 |
| Year published: |
2009 |
| Abstract: |
The RoboCup community has one definite goal [1]:
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 needed for 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. |
| PDF Version: |
http://www.informatik.uni-bremen.de/agebv/downloads/published/haddadin_ras_09.pdf |
| Keywords: |
sport robotics, PHRI, human-robot soccer, elastic joints |
| Status: |
Reviewed |
| Last updated: |
13. 08. 2009 |
|
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