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175:. As the first RoboCup 3D model, teams were primarily concerned with balance and basic mobility. Consequently, this agent model is not as fully featured as a human-sized biped soccer playing robot would be. For example, Soccerbot has an omni-directional camera mounted in the torso and consequently the head is fixed. Similarly the hip joints are restricted to rotations around perpendicular axes.
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allows software agents to control humanoid robots to compete against one another in a realistic simulation of the rules and physics of a game of soccer. The platform strives to reproduce the software programming challenges faced when building real physical robots for this purpose. In doing so, it
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Nao has a directional camera mounted in the head. The head can rotate through two degrees of freedom, ranging -120 to 120 degrees left-to-right, and -45 to 45 degrees down-to-up. The camera has a field of view 120 degrees wide.
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Agents are controlled by external processes. The competition's rules dictate that each agent must be a separate process, though there is no technical restriction for this. Agents communicate with the soccer server via
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a specialised camera that reports upon the location of certain landmarks upon the field, the ball and other players. Positions are reported in polar coordinates relative to the gazing direction of Nao.
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The server sends game and agent state information to each agent. In response, the agent sends commands to the simulation that control the movement of the agent's body. Messages are sent using
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Changing of models represents progress simulating an improved approximation of a real robot. However, when models change, existing teams must rework their agents to control the new bodies.
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Soccerbot was also designed within certain limitations of the simulation system at the time. As the simulator became more robust, more sophisticated robot models were possible.
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provides information about the location, direction and magnitude of a force applied upon a part of the body. Nao has one of these on the sole of each foot.
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simulation system is a generic simulator, capable of simulating different agent models. In its history, the 3D league has used different models.
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application connects to the server via TCP port 3200 and receives information about the state of play. The standard monitoring application is
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Federation's goal of developing a team of fully autonomous humanoid robots that can win against the human world soccer champion team in 2050.
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measures acceleration along X,Y,Z axes of the body part to which it is affixed. Gravity is registered. Nao has one fixed within the torso.
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The first version of the 3D server was released on 2003-12-30, after an initial proposal presented at the 2003 RoboCup symposium.
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detects messages sent from other agents on the field, reporting their distance, direction and the message itself.
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provides the current angle of a hinge joint. Hinge joints can only bend along one axis. Nao has 22 such joints.
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makes the robot say a message that may be heard by team mates and opponents within a certain range via the
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specifies that a given force should be applied to a particular hinge joint. Nao has 22 such hinges.
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is a newer Java-based monitoring application with extended 3D graphical and debugging capabilities.
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delivers information about orientation relative to X,Y,Z axes. Nao has one fixed within the torso.
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Archive of log files, team binaries and team description papers from previous competitions.
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is capable of extension via custom perceptors, but this is not allowed in competitions.
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is used to reposition the robot player at times in the game when this is allowed.
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detects game time and play mode (before kickoff, free kick, game over, etc.).
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which is additionally capable of replaying log files from recorded matches.
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is sent once after the agent connects to create a robot within the server.
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Installation instructions for SimSpark and rcssserver3d on all platforms.
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562:. Lecture Notes in Computer Science. Vol. 3187. pp. 243–257.
525:. Lecture Notes in Computer Science. Vol. 3020. pp. 458–469.
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556:"Spark – A Generic Simulator for Physical Multi-agent Simulations"
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Soccer
Simulation League article on the official RoboCup wiki.
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The current robot model used in competitions is based on the
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The Nao robot player is equipped with various perceptors:
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AIUT3D Motion Editor for creating keyframe-based motions.
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The first agent model used in the 3D league was the
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Web Player for log files from previous competitions
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595:"projects - Old Zigorat3D on GooglePages.com"
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388:UT Austin Villa highlights from RoboCup 2017
382:UT Austin Villa highlights from RoboCup 2016
376:UT Austin Villa highlights from RoboCup 2015
370:UT Austin Villa highlights from RoboCup 2014
364:RoboCup 2012 3D Simulation League Highlights
358:UT Austin Villa highlights from RoboCup 2011
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519:"Simulation League: The Next Generation"
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517:Kögler, Marco; Obst, Oliver (2004).
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158:Soccerbot rendered in 3D
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230:Aldebaran Robotics
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599:. Retrieved
597:. 2007-06-30
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390:(YouTube)
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Text is available under the Creative Commons Attribution-ShareAlike License. Additional terms may apply.
