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THE MODIFICATION STUDY OF ROBOT SOCCER BODY AND ITS EFFECT ON MOVEMENT
Hadi Bin Khalid12 , Mohd Shahrom Bin Ismail12, Wan Majdah Binti Ton Mamat12, Faizdul3 JABATAN KEJURUTERAAN MEKANIKAL1 ROBOT SOCCER INTEREST GROUP2 FAKLUTI TEKNOLOGI SAINS MAKLUMAT, UKM3 SULTAN SALAHUDDIN ABDUL AZIZ SHAH POLYTECHNIC Persiaran Usahawan , Seksyen U1, Shah Alam E-mail: mohdshahromi@psa.edu.my

This paper describes the hardware implementation of a micro-robot soccer team in order to improve it capability on maneuvering and improves the speed projection. An experimental study was developed by making a simple change on the robot soccer by redesigned the plastic rigid support to the light weight bearing. The light weight bearing are developed to meet the FIRA specifications on robot soccer size scale. In the experimental study the robot was divided by two groups with each represent conventional structure (with a plastic rigid support) and new amendment light weight bearing. The results are compared and it showed a significant improvement of the newly design structure. The robot body and motors arrangement were designed using AutoCAD. Keyword: FIRA, roller experimental study. I. Introduction bearing, modification,

The Robot-Soccer Championships known as FIRA (Federation of International Robot-Soccer Association) is a competition created to promote significant developments on robotics, sensor fusion, intelligent control, data communication, vision, mechatronics, computation, artificial life and related areas of engineering and technology (Veloso et all, 1998; Wyeth and Brown, 2000; Wyeth et all, 2000). Several Educational and Research Institutions around the world have developed efficient robot soccer teams (Veloso et all, 1998; Wyeth et all, 2000). This included Ministry of Higher Education (MOHE), Malaysia, by adopted it as a new learning program in the past few years. This new learning program had further involvement on having a various competitions and matches between National Universities and Malaysian polytechnic students either in national and international levels. Nowadays, there are a lot of on-going and completed projects on wireless mobile robot control. With wireless communication, mobile robots can connect to other mobile robots and PC. Thus, mobile robots can be controlled wirelessly via a computer or even constructing a multi-agent robot system. The mobile robots can also be autonomous if the algorithm is downloaded directly into the memory of the mobile robot. One common form of wireless technology is the utilization of radio frequency (RF) transmitter and receiver on mobile robots. However, there are a few limitations. One such limitation is that the communication is only one direction and half duplex. The algorithm written is limited by the memory available on the mobile robot. Thus, only simple algorithms can be written. Infrared Data Association (IrDA) is another form of cheap wireless technology but requires a line-ofsight connection to establish communication in a shorter range of 1m [1]. This is not practical for an

Research in robot soccer within RoboCup, has rapidly progressed since its beginnings in the mid1990 (Kitano et all, 1998). The robots successfully compete as teams, perceiving a challenging dynamic environment, making decisions, cooperating as a team, and acting to achieve concrete objectives. The idea of robot soccer is originated in 1995, when Prof. Jong-Hwan Kim of KAIST, Korea, initiated an international organizing committee for Micro-Robot World Cup Soccer Tournament (MiroSot). After the MiroSot game rules were given in 1996, the first MiroSot '96 championship was held at KAIST.

2 autonomous mobile robot. Due to these factors, this project tries to explore the possibility of substituting RF transceiver and infrared with Bluetooth technology for wireless control of mobile robots. II. Experimental methodology Figure 1: Programmable time based of PID tuner III. Results and discussion From Figure 2 it shows a result between a conventional rigid support (Type I) and modified robot with roller bearing (Type II). From the result it shows that Robot Type I took much infinitesimal time compared to Robot Type II by looking at cycle number 80 and 95. However it been observed throughout all the cycles, in average there not not much difference is identified

A sourced code based on Visual Basic was developed in order to extract the time for two robot specimens. The sample time was captured and compared in order to determine the results. Basically the experiment was conducted by set a square coordinate point to point (A, B, C and D). Each point is relatively 1.2 m x 1.2 m. Then the robot specimens were run for 100 times each continuously. Set of data was recorded by programmable time based on PID tuner application as shows in Figure 1. In these experiment two types of robot specimens was used as shows in Table 1. The modified robot specimen is attached to the bearing at both front and rear support of the robot with a inner and outer diameters to be 3.8 mm and Dout 8.4 mm respectively (refer Figure 2). It been noted that there some variables during analysis that would affected the robot. Therefore some variables such as voltage and current from power supply, robot velocity and game field environment surface. Furthermore the robot weight condition also fixed to be equal by both robot specimens. Table 1: Description of robot that used in the test Type of robot Description I Conventional rigid support II roller bearing SKF A8815

Table 2. Data obtained from the experiment Type I min max average 9187 11563 10.07453 Type II 9110 11484 10.02406 different (sec) 0.077 0.079 0.000 different (%) 0.838 0.683 0.501

Figure 2: Comparison of experimental data between robot type I (with conventional rigid support) and type II (with roller bearing SKF A8815)

REFERENCES
H. Kitano, M. Fujita, S. Zrehen and K. Kageyama, Sony legged robot for RoboCup challenge, in Proc. ICRA-98, 1998 IEEE Int. Conf. Robotics and Automation, Leuven, Belgium (1998), pp. 26052612. Costa, A. H. R., Pegoraro, R., Stolfi, G., Sichman, J. S., Pait, F. M. and Ferasoli, F. H., 1999. GUARAN RobotSoccer Team: Some Architectural Issues, Proceedings of IV Simpsio Brasileiro de Automao Inteligente, So Paulo, Brazil, pp. 457-462. FIRA, 1999. Fira Mirosot Game Rules. Approved by the FIRA Executive Comittee and disponible at http://www.fira.net.

Kim, J. H. and Vadakkepat, P., 2000. Multi-Agent Systems: A Survey from the Robot-Soccer Perspective. Intelligent Automation and Soft Computing, 6(1). Tavares, R. F., 1997. Um Breve Histrico dos Robs no Pas do Futebol. Disponible at http://www.ia.cti.br/~leopard. Veloso, M., Stone, P. and Han, K., 1998. The CMUnited-97 Robot-Soccer Team: Perception and Multi-Agent Control, Proceedings of the Second International Conference on Autonomous Agents. Wyeth, G. and Brown, B., 2000. Robust Adaptive Vision for Robot-Soccer. Mechatronics and Machine Vision in Practice. Wyeth, G., Brown, B. and Tews, A., 2000. UQ RoboRoos: Prelimary Design of a Robot Soccer Team. Lectures

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Notes in AI: RoboCup98.

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