A novel ball handling mechanism for the RoboCup middle size league

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This paper presents the hardware design and control design of a novel ballhandling mechanism in the RoboCup Middle Size League used by team TechUnited Eindhoven. The ball handling mechanism consist of two levers with two actively driven wheels attached to it, to exert forces on the ball in order to control its position relative to the robot. The proposed design is fully compliant to the rules and regulations imposed by the RoboCup Middle SizeLeague community. The control design consists of a cascaded velocity and position feedback loop in combination with a feedforward controller which compensates for the robots ego motion. The proposed design is validated on a robot used by the Tech United Eindhoven team.
Original languageEnglish
Pages (from-to)469-478
Number of pages10
Issue number2
Publication statusPublished - 2011


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