[robocup-humanoid] Rules adjustments for RoboCup 2019
Ludovic Hofer
lhofer at labri.fr
Fri May 31 10:21:53 EDT 2019
Dear RoboCuppers,
After the German Open 2019, we have considered that it was necessary to
bring
some small adjustments to the rulebook for the RoboCup 2019 in Sydney.
You will find the latest
version here
<http://www.robocuphumanoid.org/wp-content/uploads/RCHL-2019-Rules-changesMarked.pdf>.
In this mail we will describe the content of the changes, the reason
behind the
changes and why it should not result in a major implementation change
for the
teams.
If you have any question or concern regarding those changes, please do
not hesitate to contact us.
See you in Sydney,
Ludovic Hofer (on behalf of RoboCup Humanoid League TC)
*Rule change 1: Invalid goal at kick-off
---------------------------------------*
- Content: When the ball is kicked directly into the goal by the team
who has
kick-off, before leaving the center circle, the game is restarted with a
goal kick (previously kick-off for opposite team)
- Reason: Restarting with a kick-off would require to add specific
manipulations on the GameController. For goal scored illegally, we
already
have the 'Goal kick' procedure which is applied for other cases. This
change
will make the rules simpler for all the referees.
- Impact on teams: Since all teams have to be prepared to perform goal
kicks,
the impact should be minimal and it should rather helps team by
making less
specific cases.
*Rule change 2: Defender distance to ball for game interruption
--------------------------------------------------------------*
- Content: The minimum legal distance between the ball and players from
the defending
team during game interruption is increased. The minimum distance is now
0.75m for KidSize and TeenSize, and 1.5m for AdultSize (previously 0.5m).
This change concerns freekicks, penalty kicks, throw-ins, goal kicks
and corner kicks.
- Reason: During GermanOpen, we experimented more game interruptions
during the
games. The 0.5m distance was to small, it leads to a packing of
robots and
leaves few options for the attacking team.
- Impact on teams: The only impact for teams is to increase the distance
which
should be walked by robots during the "preparation phase". Even if we
take
into account 5 seconds of delay to perceive the ball. It only requires a
moving speed of 7.5cm/s in KidSize and TeenSize and 15cm/s for AdultSize,
those requirements are perfectly reasonable for the leagues.
*Rule change 3: Distance of penalty mark in adult size
-----------------------------------------------------*
- Content: For AdultSize only, the distance from penalty mark to the
goal line
has been restored to 2.1 meters.
- Reason: While we took into account the proportions between the field
markings
during the rule update, we underestimated the importance of the size
of the
robot.
- Impact on teams: All AdultSize teams should be able to kick the ball
for more
than 2.1 meters. The distance to be walked during penalty kicks is still
acceptable for the robots. If teams require new images to train
perception
modules, they should still have enough time.
More information about the robocup-humanoid
mailing list