A Goal Keeper for Middle Size Robocup

TitleA Goal Keeper for Middle Size Robocup
Publication TypeBook Chapter
Year of Publication2001
AuthorsJamzad, M., A. Foroughnassiraei, M. Hajiaghayi, V. S. Mirrokni, R. Ghorbani, A. Heydarnoori, M. Kazemi, H. Chitsaz, F. Mobasser, M. Ebrahimi, M. Gudarzi, and N. Ghaffarzadegan
EditorStone, P., T. Balch, and G. Kraetzschmar
Book TitleRoboCup 2000: Robot Soccer World Cup IV
Series TitleLecture Notes in Computer Science
ISBN Number978-3-540-42185-6

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.