Positioning of Active Wheels for Optimal Ball Handling

A Guide for Designing a New Ball Handle Mechanism for Middle-Size-League at RoboCup
  • Maximilian Beuermann
  • Marie OssenkopfEmail author
  • Kurt Geihs
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11531)


The RoboCup is an international competition in robot science. In the Middle Size League (MSL), which is one of the robotic soccer leagues, dribbling a ball is an essential capability. This task needs both hardware and software consideration. The position of the active dribbling wheels determines the movement possibilities of the dribbling robot and software control can only limitedly make up for poor hardware design decisions. We present a guide that leads through the decision-making process for positioning the wheels of the ball handle mechanism. We show a variety of considerations that need to be taken into account when designing a ball handle mechanism. We weight the requirements and conclude an optimal positioning for the ball handle mechanism of the Carpe Noctem Cassel team. We also present the kinematic solution of the ball actuation for the essential movement directions.


Active dribbling Robot soccer Ball handle mechanism RoboCup MSL Carpe Noctem Cassel 


  1. 1.
    de Best, J., van de Molengraft, R.: An active ball handling mechanism for RoboCup. In: 10th International Conference on Control, Automation, Robotics and Vision (2008)Google Scholar
  2. 2.
    Junkai, R., Chenggang, X., Junhao, X., Kaihong, H., Huimin, L.: A control system for active ball handling in the RoboCup middle size league. In: 2016 Chinese Control and Decision Conference (CCDC), Yinchuan, pp. 4396–4402 (2016)Google Scholar
  3. 3.
    Chikushi, S., Weerakoon, T., Ishii, K., Sonoda, T.: Motion analysis and control of the ball operation for dribbling action in RoboCup soccer robot. In: 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems and 2016 17th International Symposium on Advanced Intelligent Systems, pp. 532–536 (2016)Google Scholar
  4. 4.
    Bigelow, F.F., Kalhor, A.: Robust adaptive controller based on evolving linear model applied to a Ball-Handling mechanism. Control Eng. Pract. 69, 85–98 (2017). Scholar
  5. 5.
    Kimura, K., Ishii, K., Takemura, Y., Yamamoto, M.: Mathematical modeling and motion analysis of the wheel based ball retaining mechanism. In: 2016 Joint 8th International Conference on Soft Computing and Intelligent Systems (SCIS) and 17th International Symposium on Advanced Intelligent Systems (ISIS), Sapporo, pp. 518–523 (2016)Google Scholar
  6. 6.
    Mas’ udi, M.I., et al.: Implementation of PID control in active ball handling system of middle size robot soccer. In: 2018 10th International Conference on Information Technology and Electrical Engineering (ICITEE), pp. 242–247. IEEE (2018)Google Scholar
  7. 7.
    Cunha, B.; Neves, A. J.R.; Dias, P.; Azevedo, J. L.; Lau, N.; Dias, R. et al.: CAMBADA’2015. Team Description Paper (2015) Google Scholar
  8. 8.
    Popp, K., Schiehlen, W.: Ground vehicle dynamics (2010)CrossRefGoogle Scholar
  9. 9.
    Chikushi, S., Weerakoon, T., Sonoda, T., Ishii, K.: Kinematics of two-roller-driven ball for RoboCup soccer robot. JRNAL 4(3), 248 (2017). Scholar
  10. 10.
    Genta, G., Morello, L.: The Automotive Chassis. Springer, Dordrecht (2009). pp. 59, 91, 137, 217CrossRefGoogle Scholar
  11. 11.
    FIFA: Laws of the game 2015/2016. Fédération Internationale de Football Association (2015). p. 15Google Scholar
  12. 12.
    RoboCup (2018). RoboCup Official site.
  13. 13.
    Lynch, K.M., Park, F.C.: Modern Robotics. Cambridge University Press, Cambridge (2017)Google Scholar
  14. 14.
    Saha, S.K., Shah, S.V., Nandihal, P.V.: Evolution of the DeNOC-based dynamic modelling for multibody systems. Mech. Sci. 4, 1–20. Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Maximilian Beuermann
    • 1
  • Marie Ossenkopf
    • 1
    Email author
  • Kurt Geihs
    • 1
  1. 1.EECS Department — Distributed SystemsUniversity of KasselKasselGermany

Personalised recommendations