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RoboCup SSL is an excellent platform for researching artificial intelligenceand robotics. The dribbling system is an essential issue, which is the mainpart for completing advanced soccer skills such as trapping and dribbling. Inthis paper, we designed a new dribbling system for SSL robots, includingmechatronics design and control algorithms. For the mechatronics design, weanalysed and exposed the 3-touch-point model with the simulation in ADAMS. Inthe motor controller algorithm, we use reinforcement learning to control thetorque output. Finally we verified the results on the robot.

Mechatronic Design of a Dribbling System for RoboCup Small Size Robot