@inbook {399,
	title = {A Goal Keeper for Middle Size Robocup},
	booktitle = {RoboCup 2000: Robot Soccer World Cup IV},
	series = {Lecture Notes in Computer Science},
	volume = {2019},
	year = {2001},
	note = {10.1007/3-540-45324-5_92},
	pages = {583-586},
	publisher = {Springer-Verlag},
	organization = {Springer-Verlag},
	abstract = {In real soccer goal keeper has a completely different behavior that the players. Thus we designed our goal keeper with some basic ideas taken from real soccer, which is moving mainly in goal area and using arms to take the balls. Our goal keeper has a moving mechanism based on 8 motors which enables it to move forward/backward, straight left/right and rotate around its geometrical center, and a sliding arm which moves toward the direction of ball faster than the robot body. Using 3 CCD cameras in front and rear left and right provides the goal keeper with a view of about 210 degrees.},
	isbn = {978-3-540-42185-6},
	doi = {10.1007/3-540-45324-5_92},
	url = {http://dx.doi.org/10.1007/3-540-45324-5_92},
	author = {Mansour Jamzad and Amirali Foroughnassiraei and Mohammadtaghi Hajiaghayi and Vahab S. Mirrokni and Reza Ghorbani and Abbas Heydarnoori and Moslem Kazemi and Hamidreza Chitsaz and Farid Mobasser and Mohsen Ebrahimi and Mazeiar Gudarzi and Navid Ghaffarzadegan},
	editor = {Peter Stone and Tucker Balch and Kraetzschmar, Gerhard}
}