ZJUNlict RoboCup 2019 拡張チーム記述論文
ZJUNlict Extended Team Description Paper for RoboCup 2019
RoboCup小型ロボットリーグの優勝チームZJUNlictが、機構・電気・ソフトウェア各面での改良点（タッチングポイント最適化、直接トルク制御、視覚喪失補償など）をまとめたチーム記述論文。
著者: Zheyuan Huang, Lingyun Chen, Jiacheng Li, Yunkai Wang, Zexi Chen, Licheng Wen, Jianyang Gu, Peng Hu, Rong Xiong
分類: cs.RO
原文アブストラクト
For the Small Size League of RoboCup 2018, Team ZJUNLict has won the champion and therefore, this paper thoroughly described the devotion which ZJUNLict has devoted and the effort that ZJUNLict has contributed. There are three mean optimizations for the mechanical part which accounted for most of our incredible goals, they are "Touching Point Optimization", "Damping System Optimization", and "Dribbler Optimization". For the electrical part, we realized "Direct Torque Control", "Efficient Radio Communication Protocol" which will be credited for stabilizing the dribbler and a more secure communication between robots and the computer. Our software group contributed as much as our hardware group with the effort of "Vision Lost Compensation" to predict the movement by kalman filter, and "Interception Prediction Algorithm" to achieve some skills and improve our ball possession rate.
