# Mechatronic Design of a Dribbling System for RoboCup Small Size Robot

## TL;DR

This paper presents a novel mechatronic dribbling system for RoboCup SSL robots, integrating a 3-touch-point design, simulation analysis, and reinforcement learning control algorithms, with experimental validation.

## Contribution

It introduces a new mechatronic design and control approach for SSL robot dribbling systems, combining simulation and reinforcement learning techniques.

## Key findings

- Successful simulation of the 3-touch-point model in ADAMS
- Effective torque control via reinforcement learning
- Validated system performance on actual robots

## Abstract

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