last
updated: Wed
Feb 11th 2004 by Brian Thomas
Note:
(1)
These
rules apply to both 2-on-2 and 1-on-1 Leagues. Differences are noted, where
necessary.
(2)
Changes
from 2003 rules are highlighted in red.
1.1.
Size.
1.1.1.
The
playing field for the 1-on-1 League is 87 cm by 119 cm (oversize A0) (1-on-1 field diagram).
1.1.2.
The
playing field for the 2-on-2 League is 122 cm by 183 cm (2-on-2 field diagram).
1.1.3.
As
shown in the diagrams, each corner is a triangle of 8cm on each of the sides
parallel to the walls.
1.2. Floor.
1.2.1.
The
floor of the playing field is covered with a printed, matte greyscale. See your
national web site for local suppliers
1.2.2.
The
playing field should be placed so that it is flat and level. The field may be
placed on a table or on the floor.
Hint:
It is recommended that teams design their robots to cope with slight
imperfections up to 3mm on the surface.
1.3. Walls.
1.3.1.
Walls
are placed all around the field, including behind the goals.
1.3.2.
The
walls are 14 cm high.
1.3.3.
The
walls are painted matte black.
1.4. Goals.
1.4.1.
The
width of each goal for the 1-on-1 League is 29 cm, centered on the shorter end
of the field.
1.4.2.
The
width of each goal for the 2-on-2 League is 45 cm, centered on the shorter end
of the field.
1.4.3.
The
back and sides and floor of the goal (inside the field) and are painted matte
grey: 75% matte white and 25% matte black.
1.5. Neutral
Spots.
1.5.1.
For
the both leagues, there are five (5) neutral spots defined in the field.
1.5.2.
One
(1) is in the center of the field.
1.5.3.
Four
(4) are adjacent to each corner, located a goal width along the long edge of the
field, aligned with each goal post; i.e., for the 1-on-1 League, 29cm towards
the middle of the field from each goal post (see drawing in 1.1.1); for the
2-on-2 League, 45cm towards the middle of the field from each goal post (see
drawing in 1.1.2).
1.5.4.
The
neutral spots are positions on the field where the referee can place robots or
the ball in case play is interrupted (see Interruption of Game Play).
1.5.5.
The
spots are marked by a small blue cross on the floor of the field.
1.5.6.
The ball is to be placed on the goal
neutral spots if an interruption occurs while it is in the goal area. The ball
is placed in the central neutral spot if an interruption occurs while it is in
the Center Area. See the diagram in 1.1.1 or 1.1.2.
1.6. Lighting.
1.6.1.
Teams
must come prepared to calibrate their robots based on the lighting conditions at
the venue.
1.6.2
Every
effort will be made to keep ambient light to a low level with infra-red (IR)
sources from incandescent lights and natural lighting minimized.
1.6.3
The
organizing committee will release the range of light conditions to be expected,
at least one month prior to the event.
1.7. Magnetic
Conditions.
1.7.1
Every
effort will be made by organizers to locate soccer fields away from magnetic
fields such as under floor wiring and metallic objects. However sometimes this
cannot be avoided.
Hint:
It is recommended that teams design their robots to cope with variations in
lighting and magnetic conditions, as these vary from venue to venue. Teams
should come prepared to calibrate their robots based on the conditions at the
venue.
2.1. Diameter.
2.1.1.
For
the 1-on-1 League, the upright robot must fit inside an upright 18cm diameter
cylinder.
2.1.2.
For
the 2-on-2 League, the upright robot must fit inside an upright 22cm diameter
cylinder.
2.1.3.
Robots
will be measured with all parts fully extended. See Rule 4.2
Robot Configuration.
2.2. Height.
2.2.1.
The
robot height must be 22cm or less.
2.3. Control.
2.3.1.
Robots
must be controlled autonomously.
2.3.2.
Robots
must be started manually by humans.
2.3.3.
The use of remote control any kind
is not allowed.
2.4.
Marking/Coloring.
2.4.1.
Competitors
are required to mark or decorate their robots to identify them as belonging to
the same team.
2.4.2.
Colors
of robots and/or light transmitters must not interfere with the light sensors
readings of other robots. Transmitters on LEGO light sensors must be covered.
Blue Tac is recommended.
2.5. Team.
2.5.1.
For
the 1-on-1 League, a team shall consist of one and only one (1) robot.
2.5.2.
For
the 2-on-2 League, a team shall consist of no more than two (2)
robots.
2.6.
Construction.
2.6.1.
Any
robot kit or building blocks may be used, as long as the robot fits the above
specifications and as long as the design and construction are primarily and
substantially the original work of the student(s) (see section 4.3).
2.6.2.
Construction
from raw electronic and hardware components is also allowed, as long as the
robot fits the above specifications and as long as the design and construction
are primarily and substantially the original work of the student(s) (see section
4.3).
2.6.3.
Robot
pieces may be permanently attached with glue, screws, etc.
2.7. Ball
Capturing Zones.
2.7.1.
Ball
capturing zones are defined as any internal space created when a straight edge
is placed on the protruding points of a robot.
2.7.2.
The
ball cannot penetrate the Ball Capturing Zone by more than 2cm.
2.8.1
If a goalie is
used in 2-on-2, it cannot limit its movement to a single direction on the field.
It must be programmed to move in all directions.
2.8.2
A goalie must
respond to the ball with a
movement that takes
some part of the robot past the Neutral Zone (45 cm from
a
goal)
2.8.3
Failure to respond to the ball with
movement down the field will result in the robot being classified as “Damaged”.
(Section 5.10)
2.9
Kickers
2.9.1
If
a robot damages a ball, it will be removed from play and treated as a damaged
robot.
2.9.2
Adjustments must be made to that
robot to prevent this from recurring.
2.9.3
If
the robot infringes again it will be disqualified from the
game.
3.1.
Specification.
3.1.1.
A
well-balanced electronic ball shall be used.
3.1.2.
The
ball will transmit infra-red (IR) light.
3.2. Suppliers.
There
are two electronic balls that have been tested by the RoboCupJunior Technical
Committee. Both are similar in performance.
3.2.1.
IR
Roboball MK2 made by Wiltronics.
3.2.2.
RoboSoccer
ball made by EK Japan for
Japanese,
for English.
It
can be also purchased from Acroname,
Inc.
3.3. Competition
Ball.
3.3.1
For
RoboCupJunior-2004 the official ball will be announced prior to the
tournament.
4.1. Schedule.
4.1.1.
The
robots will be examined by a panel of referees before the start of the
tournament to ensure that the robots meet the constraints described
above.
4.1.2.
It is the
responsibility of teams to have their robots re-inspected if their robots are
modified at any time during the tournament.
4.2. Robot
configuration.
4.2.1.
While
being inspected, each robot must be upright and at its maximum size; i.e.,
anything that protrudes from the robot must be fully extended. If a robot has
a moving part that extends in two directions, it will need to be inspected with
this part operating. The robot must be able to operate without touching the
measuring cylinder.
4.3. Students.
4.3.1.
Students
will be asked to explain the operation of their robots in order to verify that
the construction and the programming of the robot is their own work.
4.3.2.
Students
will be asked questions about their preparation efforts, and they will be
requested to answer surveys and participate in video-taped interviews for
research purposes.
4.3.3.
Commercial
kits may be used but must be substantially modified by the students.
4.3.4.
Proof must be
supplied that robots are
constructed and programmed by the students see section
7.
It is highly
unlikely that a team will be able to legally use robots, identical to other
teams
participating
this year or/and from previous
year.
4.4. Violations.
4.4.1.
Any
violations of the inspection rules will prevent that robot competing until
modifications are effected.
4.4.2.
However,
modifications must be made within the time schedule of the tournament and teams
must not delay game play while making modifications.
4.4.3.
If
a robot fails to meet all specifications (even after some
modifications), the robot will be disqualified
for that game (but not the tournament).
4.4.4.
If
there is excessive mentor assistance or the work on the robots is not
substantially original work by the students, then the team will be disqualified
from the tournament.
5.1. Pre-game
setup.
5.1.1.
Organizers
will make every effort to provide teams an
access
to the competition area at least two hours before the start of the competition.
5.1.2.
Organizers
will make every effort to allow at least 10 minutes of setup time before each
game.
Participants
should be aware, however, that situations may arise where these conditions
cannot be met; and so participants should arrive prepared to cope under
conditions that are less than ideal.
5.2. Length of
Game.
5.2.1.
The
game will consist of two 10-minute halves.
5.2.2.
There
will be a 5-minute break in between the halves.
5.2.3.
The
game clock will run for the duration of the game (two 10-minutes halves),
without stopping (except as noted in Damaged Robots).
5.2.4.
The
game will run on a central time clock.
5.2.5.
Teams
can be penalized one goal per minute at the referee’s discretion if they are
late.
5.2.6.
If
a team does not report within 5 minutes of the game start, it will forfeit the
game.
The
winning team will
be awarded
a 5-0 score line.
5.3. Start of
Game.
5.3.1.
At
the start of the first half of the game, the referee will toss a coin and the
team first mentioned in the draw shall call the coin while it is in the air.
5.3.2.
The
winner of the toss can choose either (a) which end to kick to, or (b) to kick
off first.
5.3.3.
The
loser of the toss will decide the other option.
5.3.4.
The
team not kicking off in the first half of the game will kick off to begin the
second half of the game.
5.4. Kick-Offs.
5.4.1.
Each
half of the game begins with a kick-off.
5.4.2.
All
robots must be in located on their own side of the field.
5.4.3.
All
robots must be halted.
5.4.4.
The
ball is positioned by the referee in the center of the field.
5.4.5.
All
robots on the team not kicking off must be at least 30cm away from the ball.
5.4.6.
The
team not kicking off places their robots on the field first. Robots cannot be
placed nor remain behind the goal line. Robots cannot be moved once they have
been placed.
5.4.7.
The
team kicking off will place one robot near the ball.
5.4.8.
The
referee may adjust the placement of the robots.
5.4.9.
On
the referee’s command, all robots will be started immediately by human team
members.
5.4.10
Any robots that
are started before the referee’s command will
be removed from the field and treated as a damaged robot. (See
5.10.5)
5.5. Humans.
5.5.1.
In
general, movement of robots by humans is not acceptable.
5.5.2.
Humans
can only move robots at the instruction of the referee.
5.5.3.
Before
the start of each match, teams should designate one human who will act as
“Captain”, and be allowed to start, place, remove and replace robots during the
game, based on the stated rules and as directed by the referee.
5.5.4.
Other
team members within the vicinity of the playing field are to remain seated while
the ball is in play, unless otherwise directed by the referee.
5.6. Ball
Movement.
5.6.1.
A
robot cannot “hold” a ball.
Hint: Holding a ball means taking a full
control of the ball by removing all of its degrees of freedom. For example, this
would mean fixing a ball to the robot’s body, surrounding a ball using the
robot’s body to prevent access by others, encircling the ball or somehow
trapping the ball with any part of the robot’s body. If a ball stops rolling
while a robot is moving ,
or a ball does
not rebound when rolled into a robot,
it is a good indication that the ball is trapped.
5.6.2.
The ball cannot be held underneath a robot.
5.6.3.
The
ball must be visible at all times.
5.6.4.
Other
players must be able to access the ball.
5.6.5
The
only exception to
rule 5.6.1 is the use of a rotating drum that imparts dynamic back spin on the
ball to keep the ball on its surface. This is called a “dribbler”.
5.6.6
A dribbler must
comply with Rule 2.7 Ball Capturing Zones. ie. the ball
cannot penetrate under the dribbler for more than 2cm. The 2cm is measured from
the contact point of the dribbler on the ball.
5.7.
Scoring.
5.7.1. A goal is
scored when the whole of the ball crosses the line at the front of the in goal
area. This coincides with the ball striking the back wall of the in goal
area.
5.7.2.
The
ball must be free rolling to score a goal otherwise it will be deemed
“pushed”
by the referee and disallowed.
The robot must
make a visible effort to kick or release the ball otherwise a goal will be
deemed a “push”. If no
attempt is made to release the ball and it momentarily rolls free while in the
control of a robot traveling towards goal, it will still be deemed a pushed
goal. A pushed goal scored after a collision with another robot within 15cm of
the goal will be allowed.
5.7.3.
The
only exception to this is when a robot makes first contact with the ball less
than 15cm in front of the goal.
5.7.4.
The
referee will blow the whistle when a goal is scored.
5.7.5.
After
a goal is scored, a kick-off will occur.
5.7.6.
The
non-scoring team will be awarded the ball.
5.7.7.
“Own
goals”
will be treated as a goal to the opposition, even if the ball is “pushed”
into the goal.
5.8. Interruption
of Game Play.
5.8.1.
The
situations listed in sections 5.9-5.12 may cause play to be interrupted, usually
resulting in the movement of the ball to a neutral position while play is
allowed to continue.
5.8.2.
Play
may also be stopped by the referee blowing a whistle, but the game clock is not
stopped, all at the discretion of the referee. All robots must be stopped
immediately and returned to their position when the whistle was blown.
5.8.3.
After a stoppage in play, play will
resume on the referee’s command and all robots are started
simultaneously.
5.9. Lack of
Progress.
5.9.1.
This
occurs if the ball is stuck between multiple robots or between robot(s) and the
wall and the ball is deemed by the referee to have no chance of being freed.
5.9.2.
Lack
of Progress also occurs if the ball has not been touched by any robot for at
least 20 seconds and it appears that no robots are likely to hit the ball.
5.9.3.
In
the case of Lack of Progress, the ball will be moved to the nearest unoccupied
neutral zone according to section 1.5 (Neutral Zones).
5.9.4.
If
the ball has not been touched for two periods of 20 seconds, all stuck robots
will be freed using minimal movement by the referee. Goalies should be
maintained with the same alignment.
5.9.5.
When
Lack of Progress is called, any robots sitting behind the goal line will be
moved forward out of the in goal area.
5.10. Damaged
Robots.
5.10.1.
If
a robot does not move for a period of at least 20 seconds and/or it does not
respond to the ball, it will be deemed damaged by the referee.
5.10.2.
If
a robot is fixed at the wall, because it has no sensors to detect the wall, the
robot is not damaged.
5.10.3.
If
a robot continually returns to the area within the goals, it will be deemed
to
be damaged
by the referee.
5.10.4.
The
referee or players may remove damaged robot(s) from the field.
5.10.5.
A
damaged robot must remain off the field for at least one minute.
5.10.6.
A
damaged robot may be returned with the referee’s
permission to the neutral spot that is closest to the position on the field from
where the robot was removed and does not advantage that robot.
5.10.7.
Goalies
may be returned to the area in front of the goal.
5.10.8.
Play
may continue during removal, repair and replacement. Note that the referee may
choose to interrupt play if robot damage occurred because of a collision with an
opposition robot.
5.10.9.
If
a robot turns over on its own accord, it will be treated as a damaged robot and
removed. If the robot is tipped over after a collision with another robot, it
can be righted by the referee and continue playing.
5.11. Multiple
Defense (2-on-2 only).
5.11.1.
Multiple
Defense occurs if more than one robot from the defending side enters the region
near the goal and substantially affects the game.
5.11.2.
For
a “Multiple Defense”, the robot having the least influence on play is moved to
the nearest neutral spot. In the case where a goalie is involved, the other
player will be moved.
5.12. Pushed
Goal.
5.12.1
In
the event of a pushed goal (see section 5.7), play will be stopped with the
referee’s whistle. The referee will explain the decision. The goal will not be
allowed. The ball is replaced on the nearest available neutral spot before play
is resumed.
5.13. Fouls.
5.13.1.
If
a robot utilizes a device or an action which continuously attacks or charges a
robot not in possession of the ball, the referee will call “Foul”. The team captain must then remove
the robot from the playing field for at least one minute and correct the
problem; play will continue (as in 5.10 “Damaged Robots”).
5.13.2.
If
the robot continues to foul,
it will be permanently removed from the game. In 1-on-1, that team will forfeit
the game.
5.14 Free Kicks
There
are no free kicks.
5.15. Penalty
Kicks.
There
are no penalty kicks.
5.16. Offside.
There
are no offside rules.
5.17. Timeouts.
There
are no timeouts in the game.
5.18.
Substitution.
Substitution
of robots at any time during a tournament is strictly forbidden.
Any
team or teams that knowingly substitute robots will be disqualified from the
tournament.
6.1. Referee.
6.1.1.
During
game play, the referee’s decisions are final.
6.1.2
If
Team Captains satisfied with the result of a game, they are to sign the score
sheet at the conclusion of game play. On signing the score sheet, the team does
not have any grounds for further protest.
6.2. Rule
clarification.
6.2.1
Rule
clarification may be made by members of the RoboCupJunior International
Technical Committee.
6.3. Special
Circumstances.
6.3.1
Specific
modifications to the rules to allow for special circumstances, such as
unforeseen problems and/or capabilities of a team’s robots, may be agreed to at
the time of the tournament, provided a majority of the contestants agree.
7.1
All
teams must bring written documentation describing their preparation
efforts.
7.2
Teams
will be given public space (approximately 1 by 2 meters) to display their
materials on a poster board.
7.3.
Officials
will review the documentation and discuss the contents with team members. A
prize will be awarded to teams with outstanding presentations.
7.4
Logbooks
7.4.1
Any team that
has original construction of robots or sensors (not freely commercially
available to all competitors) must supply full documentary proof that the
developments were wholly the work of the students according to Rule 2.7. This
should be in the form of a logbook showing all stages of design, development and
construction.
7.4.2
Failure to produce documentary proof
will result in the robot or sensor not being allowed to be used in the
tournament.
8.1. Fair Play.
8.1.1.
Robots
that cause deliberate interference with other robots or damage to the field or
the ball will be disqualified.
8.1.2.
Humans
that cause deliberate interference with robots or damage to the field or the
ball will be disqualified.
8.1.3.
It
is expected that the aim of all teams is to play a fair and clean game of robot
soccer.
8.2. Behavior.
8.2.1.
All
movement and behavior is to be of a subdued nature within the tournament venue.
8.2.2.
Competitors
are not to enter setup areas of other leagues or other teams, unless expressly
invited to do so by team members.
8.2.3.
Participants
who misbehave may be asked to leave the building and risk being disqualified
from the tournament.
8.2.4.
These
rules will be enforced at the discretion of the referees, officials, conference
organizers and local law enforcement authorities.
8.3. Mentors.
8.3.1.
Mentors
(teachers, parents, chaperones and other adult team-members) are not allowed in
the student work area.
8.3.2.
Sufficient
seating will be supplied for Mentors to remain in a supervisory capacity around
the student work area.
8.3.3.
Mentors
are not to repair robots or be involved in programming of student’s robots.
8.3.4.
Mentor
interference with robots or referee decisions will result in a warning in the
first instance. If this recurs, the team will risk being disqualified.
8.4. Sharing.
8.4.1.
An
understanding that has been a part of world RoboCup Competitions is that any
technological and curricular developments should be shared with other
participants after the competition.
8.4.2.
Any
developments may be published on the RoboCupJunior web site after the event.
8.4.3.
This
furthers the mission of RoboCupJunior as an educational initiative.
8.5. Spirit.
8.5.1.
It
is expected that all participants, Students and Mentors alike, will respect the
RoboCupJunior mission.
8.5.2.
The referees and officials will act
within the spirit of the event.
8.5.3.
It
is not whether you win or lose, but how much you learn that
counts!
