• 전자공학회논문지 IE
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• v.45 no.2
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• pp.28-33
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• 2008

The paper is represented active robot soccer system using humanoid. many robot we implement the control method of several robot and the algorithm of robot soccer system. the position and direction of the robot is recognized quickly using color tag on the shoulder of robot and special personal computer. Humanoid robot soccer system in this paper develops better in existent wheel-driven soccer robot. Forward, through a lot of studies, self-moving soccer game like human with humanoid is possible.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.612-616
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• 1997

In this paper, two kinds of controller are proposed for a soccer robot system.. One for Supervisor and defense mode, and the other for attack mode. Robot soccer game has very dynamic characteristics. Furthermore, there exist competitions between agents. The soccer-playing robot should take an appropriate action according to its surroundings. Initially, an attack mode controller using a vector field concept is designed, then a supervisor and a defense mode controller are designed with a Petri-net. The efficiency and applicability of the proposed controllers are demonstrated through a real robot soccer game(MiroSot 97).

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.520-520
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• 2000

In this paper, it used a soccer robot which needs the important Held of robot technology as the wheel type mobile robot. With the soccer robot, as for the especially important one, "strategy" "the orbit control of the robot", and "the efficiency of the robot" is given. Therefore, it paid attention to " the orbit control of the robot " and it controlled an orbit of the soccer robot using the PID control. the soccer robot using the PID control.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.11
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• pp.906-916
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• 2003

A multi-robot control algorithm using Petri-Net is proposed for 5vs5 robot soccer. The dynamic environment of robot soccer is modeled by defining the place and transition of each robot and converting it into Petri-Net diagram. Once all the places and transitions of robots are represented by the Petri-Net model, their actions can be chosen according to the roles of robots and position of the ball in soccer game, e.g., offensive, defensive and goalie robot. The proposed modeling method is implemented for soccer robot system. The efficiency and applicability of the proposed multiple-robot control algorithm using Petri-Net are demonstrated through 5vs5 Middle League SimuroSot soccer game.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.309-313
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• 2002

This paper presents an artificial intelligent model for a soccer robot. We classified soccer robot as artificial intelligent model into three elemental groups including instinct intuition and reason. Instinct is responsible for keeping the ball, walking or rushing toward the ball. This is very simple fundamental action without regard to associates and enemies. Intuition contributes to the faster/slower moving and simple basic turning to get near to the ball and to make a goal noticing associates and enemies. Reason is the most intelligent part, the law of reason is not simple relatively with instinct and intuition. We shall expect to design the best law of reason for a soccer robot some time. We also compared nerve system and muscles of human being model with controller and motors of a physical soccer robot model individually. We had designed several algorithms and made programs to investigate effects and control soccer robot.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.177-181
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• 2001

This paper presents an strategy algorithm of a soccer robot. We simply classified strategy of soccer robot as attack and defense. We use DC-motor in our Soccer Robot. We use the vision system made by MIRO team of Kaist and Soty team for image processing. Host computer is made by Pentium III. The RF module is used for the communication between each robot and the host computer. Fuzzy logic is applied to the path planning of our robot. We improve strategy algorithm of soccer robot. Here we explain improvement of strategy algorithm and fault of the our soccer robot system.

• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.3
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• pp.118-125
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• 2009

This paper proposes a novel method to enhance performance of soccer robot system using optimal color patch mounted on the robot. In soccer robot system, the position and orientation of the robot can be estimated with color patch under real time environment. However, the location estimation of the robot is very sensitive to the pattern of color patch. In addition, pattern recognition and navigation algorithm are operated independently to reduce the operation time. The experimental results show that the proposed pattern of patch is effective to reduce the position and orientation error of the robot.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.253-253
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• 2000

Each robot plays a role of its own behavior in dynamic robot-soccer environment. One of the most necessary conditions to win a game is control of robot movement. In this paper we suggest a win strategy using Cellular Neural Network to set optimal path and cooperative behavior, which divides a soccer ground into grid-cell based ground and has robots move a next grid-cell along the optimal path to approach the moving target.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.825-832
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• 2004

A small biped robot system is designed and implemented. The robot system consists of a mechanical robot body, a control system, a sensor system, and a user interface system. The robot has 12 dofs for two legs, 6 dofs for two arms, 2 dofs for a neck, so it has total 20 dofs to have dexterous motion capability. The implemented robot has the capability of performing intelligent actions such as playing soccer, resisting external forces, and walking on a slope terrain. In this paper, we focus on the robot's capability of playing soccer. The robot uses a color CCD camera attached on its head as a sensor for playing soccer. To make the robot play soccer with only one camera, an algorithm, which consists of searching, localization, and motion planning, is proposed and experimented. The results show that the robot can play soccer successfully in the given environments.