Development of a soccerplaying dynamicallybalancing mobile robot.pdfVIP

Development of a Soccer-Playing Dynamically-Balancing Mobile Robot Brett Browning, Paul E. Rybski, Jeremy Searock, Manuela M. Veloso Carnegie Mellon University School of Computer Science 5000 Forbes Avenue, Pittsburgh, USA {brettb, mmv,prybski}@, j searock@ Abstract— In this paper, we make two contributions. First, we will inevitably have to interact with humans and/or legacy present a new domain, called Segway Soccer, for investigating robots in complex tasks. For some of these tasks, decisions the coordination of dynamically formed, mixed human-robot may need to be made quickly and roles of both humans and teams within the realm of a team task that requires real-time robots may not be clearly defined a priori. decision making and response. Segway Soccer is a game of soccer between two teams consisting of Segway riding humans and Segway RMP-based robots. We believe Segway Soccer is the f irst game involving both humans and robots in cooperative roles and with similar capabilities. In conjunction with this new domain, we present our work towards developing a soccer playing robot using the Segway RMP platform and vision as its primary sensing modality. As Segway Soccer is set in the outdoors, we have developed novel vision algorithms to adapt to changes in lighting conditions. We present the domain of Segway Figure 1. The Segway RMP (left and right) and Segway HT (right) platforms Soccer, its inherent challenges, and our work towards this goal.