Publikation
Kick it with Elasticity: Safety and Performance in Human-Robot Soccer
S. Haddadin; Tim Laue; Udo Frese; S. Wolf; A. Albu-Schäffer; G. Hirzinger
In: Robotics and Autonomous Systems (RAS), Vol. 57, No. 8, Pages 761-775, Elsevier, 2009.
Zusammenfassung
The RoboCup community has one definite goal [38]: winning against the human world soccer champion team by the year 2050.
This implies real tackles and fouls between humans and robots, rising safety concerns for the robots and even more important for
the human players. Nowadays, similar questions are discussed in the field of physical human-robot interaction (pHRI), but mainly
in the context of industrial and service robotics applications.
The first part of our paper is an attempt for a pHRI view on human-robot soccer. We take scenes from real soccer matches and
discuss what could have happened if one of the teams consisted of robots instead of humans. The most important result is that
elastic joints are needed to reduce the impact during collisions. The second and third part consider conversely, how the robot can
handle the impact of kicking the ball and how it can reach the velocity of human-level soccer. Again joint elasticity is the key point.
Overall, the paper analyzes a vision far ahead. However, all our conclusions are based on concrete simulations, experiments,
derivations, or findings from sports science, forensics, and pHRI.