Dribbling via Physics-Based Planning at RoboCup 2009

This video shows a goal scored by our team CMDragons at RoboCup 2009. The attacking robot uses a novel dribbling behavior which employs randomized, physics-based motion planning to make tactically sound navigation decisions while remaining in full dynamic control of the ball.

The underlying planning algorithms are described in my PhD Thesis "Physics-Based Robot Motion Planning in Dynamic Multi-Body Environments" (CMU-CS-10-115), Stefan Zickler, 2010.

For more information, see http://szickler.net/thesis/

Category:

Science & Technology

Tags:

• robotics
• robots
• motion planning
• CMU
• Carnegie Mellon
• CMDragons
• physics-based planning
• robocup 2009
• SSL
• Small Size League
• robot soccer
• dribbling