RoboCup Soccer Humanoid League Rules and Setupfor the 2010 competitionin O rdos, ChinaMay25, 2010Contents1The Field of Play51.1Playing Surface (5)1.2Goals (7)1.3Landmark Poles (7)1.4Lighting (7)1.5People Area (9)2The Ball9 3The Number of Players103.1Incapable Players (10)3.2Substitutions (10)3.3Temporal Absence (10)4The Design of the Robots114.1Robot Height (11)4.2Weight Restrictions (12)4.3Size Restrictions (12)4.4Sensors (13)4.5Communication and Control (14)4.6Colors and Markers (15)4.7Safety (16)4.8Robustness (16)5The Referee17 6The Assistant Referees18 7The Duration of the Match197.1Periods (19)7.2Timeouts (19)8The Start and Restart of Play208.1Preliminaries (20)8.2Kick-off (20)8.3Dropped Ball (22)9The Ball In and Out of Play23 2010RoboCup Soccer Humanoid League Rules and SetupPreambleThese rules are intended to ensure a fair competition in the RoboCup Soccer Hu-manoid League.They want to encourage creativity and technical development. The rules are oriented towards the FIFA Laws of the Game.However,they still deviate in many points from the FIFA laws,but it is intended to decrease these deviations in the future,in order to work towards the long-term goal of playing with humanoid robots against human soccer teams.Among the research challenges that are specific to the Humanoid League is maintaining the dynamic stability of the bipedal robots while they are walking,running,kicking,and performing other tasks.Another example is the coordination of perception(with a human-like limitedfield of view)and locomotion.The humanoid soccer robots must also be robust enough to deal with challenges from other players.Size ClassesAs it is not feasible to have humanoid robots of very different sizes play against each other,the competitions are held in three size classes:KidSize,TeenSize and AdultSize.See Section4for the definition of these classes.Male and FemaleReferences to the male gender in the rule book in respect of referees,assistant referees,players and officials are for simplification and apply to both males and females.2010RoboCup Soccer Humanoid League Rules and Setup1The Field of PlayThe competitions take place on a rectangularfield,which contains two goals,field lines,and two landmark poles,as shown in Fig.1.Figure1:Humanoid robot soccerfield(not to scale).1.1Playing SurfaceThefield consists of aflat and even ground which is covered with green carpet. The white lines are5cm wide.Line segments of10cm length are used to denote penalty mark and the kick-offposition(center mark).The longer outerfield lines are called touch lines,whereas the shorter outerfield lines are called goal lines. Thefield is surrounded by a border strip,which is also covered with green carpet. The world outside the border strip is undefined.2010RoboCup Soccer Humanoid League Rules and SetupFigure2:KidSize(top)and Teen-/Adult Size(middle)goals;birds eye view of goal layout(bottom).2010RoboCup Soccer Humanoid League Rules and SetupTable1:Dimensions of the rectangularfield of soccer play(in cm).KidSize TeenSize&AdultSizeA Field length600B Field width400C Goal depth5060D Goal width150260E Goal area length60F Goal area width300G Penalty mark distance180I Center circle diameter120J Border strip width(min.)70K Distance of pole tofield401.2GoalsA goal is placed in the middle of each goal line.One of the goals has a colored yellow frame.The other goal frame is colored s in grey or black color are attached to the goals and the ground behind the goal,provided that they are properly supported and do not interfere with the goalkeeper.The goals for the KidSizefield have a crossbar at a height of80cm.The height of the net is the same and it is open from the top(see Fig.2).The TeenSize and AdultSize goals have a crossbar at height of180cm and the height of the net is120cm.The goal posts and crossbars are white and cylindrical and have a diameter of10cm(see Fig.2).1.3Landmark PolesThe two landmark poles are placed at each of the two intersection points between the touch line and the center line.The landmark poles have a diameter of10cm. They consist of three segments of15cm height,placed above each other.The lowest and the highest segments are colored in the same color as the goal at its left side(see Fig.3).1.4LightingThe lighting conditions depend on the actual competition site.Lighting temper-ature may differ significantly from previous years,as only ceiling lights are used.2010RoboCup Soccer Humanoid League Rules and SetupFigure 3:Humanoid soccer fields with KidSize (top)and Teen -/Adult Size (bot-tom)goals (to scale).2010RoboCup Soccer Humanoid League Rules and Setup2The Ball9 Thefield is illuminated presuming a sufficient bright and constant lighting on the field(i.e.no daylight).1.5People AreaAround thefield of play(Figure1)afield zone is defined on site in which only the referee(Section5),the assistant referees(Section6)and the two robot handlers are allowed to stay during the game.Thefield zone must give sufficient space to the referees and robot handlers for passing behind the landmark poles and the goals.All other people(including other team members,organizational staff, representatives of the press and the media etc.)must stay outside thefield zone. 2The BallEach size class uses its own ball:1.KidSize:Standard size orange tennis ball,2.TeenSize and AdultSize:Orange beach handball,size2(18.0cm diameter,294g).2010RoboCup Soccer Humanoid League Rules and Setup3The Number of Players103The Number of PlayersA match is played by two teams,each consisting of not more than three players in KidSize and not more than two players in TeenSize,one of whom must be designated as goalkeeper.A match may not start if either team consists of less than one player.3.1Incapable PlayersPlayers not capable of play(e.g.players not able to walk on two legs,players not able to stand,or players with obvious malfunctions)are not permitted to participate in the game.They must be removed from thefield.It is up to the referee to judge whether a player is capable of play.The referee may ask the team leader of a player suspected to be incapable of play to demonstrate playing ability at any time.Afield player that is not able to get back into a stable standing or walking posture from a fall within20seconds will be removed from thefield for30seconds removal penalty and has to reenter thefield according to3.3.3.2SubstitutionsUp to two players per game can be substituted by other players of the same team.The referee must be informed prior to the substitution.A substitute only enters thefield after the player being replaced left thefield and after receiving a signal from the referee.Any of the other players may change places with the goalkeeper,provided that the referee is informed before the change is made and that the change is made during a stoppage of the match.Exchanging afield player with a goalie does not count as substitution.3.3Temporal AbsenceServicing robots on the playingfield is not permitted.A robot may be taken out of thefield for service,after receiving permission from the referee.Taking out a robot for service does not count as a substitution.A serviced robot may not come into play again before30s elapsed after it was taken out.It has to enter thefield at the one of the two endpoints of the halfway line which is further away from the current ball position.It has to face the center of thefield when entering.2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots114The Design of the RobotsRobots participating in the Humanoid League competitions must have a human-like body plan,as shown in Fig.4.They must consist of two legs,two arms, and one head,which are attached to a trunk.The robots must be able to stand upright on their feet and to walk on their legs.The only allowed modes of locomotion are bipedal walking and running.Figure4:Example of a humanoid robot body plan(left)and standing upright pose(right).4.1Robot Height4.1.1.The height H of a robot is determined as follows:H=min{H top,2.2·H com},(1) where H top denotes the height of the robot when standing upright(with fully extended knees,cf.Fig.4right)and H com denotes the height of the robot’s center of mass,measured in upright posture.4.1.2.Based on H,the following size restrictions apply:•30cm≤H≤60cm to play in the KidSize class,•100cm≤H≤160cm to play in the TeenSize class.2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots12•100cm≤H≤120cm to play in the TeenSize class.•130cm≤H≤160cm to play in the AdultSize class.A robot larger than160cm may be allowed to play in the AdultSize class,provided that:–H<180cm and–the robotfits at all times into a vertical cylinder of diameter130cm.4.2Weight RestrictionsThe maximum weight for robots allowed to play in the TeenSize class is20kg.4.3Size RestrictionsAll robots participating in the Humanoid League must comply with the following restrictions:1.Each foot mustfit into a rectangle of area H2/28.2.Considering the rectangle enclosing the convex hull of the foot,the ratiobetween the longest side of the rectangle and the shortest one,shall not exceed2.53.The robot mustfit into a cylinder of diameter0.55·H.4.If the arms are maximally stretched in horizontal direction,their extensionmust be less than1.2·H.5.The robot does not possess a configuration where it is extended longerthan1.5·H.6.The length of the legs H leg,including the feet,satisfies0.35·H≤H leg≤0.7·H.7.The height of the head H head,including the neck,satisfies0.05·H≤H head≤0.25·H.H head is defined as the vertical distance from the axisof thefirst arm joint at the shoulder to the top of the head.8.The leg length is measured while the robot is standing up straight.Thelength is measured from thefirst rotating joint where its axis lies in the plane parallel to the standing ground to the tip of the foot.2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots134.4SensorsTeams participating in the Humanoid League competitions are encouraged to equip their robots with sensors that have and equivalent in human senses.These sensors must be placed at a position roughly equivalent to the location of the humans biological sensors.In particular,1.The only active external sensor allowed is sound“human-like”with re-spect to volume and frequency)with one loudspeaker on the robot.The loudspeaker may be placed in the head,neck or trunk of the robot.Any other active sensor(emitting light,sound,or electromagnetic waves into the environment in order to measure reflections)is not allowed.2.External sensors,such as cameras and up to two microphones,may not beplaced in the legs or arms or the torso of the robots.They must be placed in the robot’s head and above any neck joint.3.Thefield of view of the robots is limited at any time to180degrees.Thismeans that the maximum angle between any two points in the overlap of thefield of views of all cameras mounted on the robot must be less than180degrees.Also the pan-tilt motion of the head and the cameras mounted on the robots head is restricted to be more human like not only with respect to thefield of view but also to the range of motion of the neck joints.Therefore,the mechanism to pan the camera is limited to 270degree pan which means±135degrees from the position looking straight ahead.The mechanism to tilt the camera is limited to±90 degrees(measured from the horizontal line).Furthermore,if positioned at the center mark the robot may not be able to see both goals in any tilt angle and in any standing or walking posture of the robot.“Field of view”refers to thefield of view of all cameras together and of how much of the soccerfield all cameras together can view at most at one time.By how much the soccerfield can be viewed by the robot at most one time is defined by a half sphere with its center axis pointing in the forward direction with respect to the robot’s frontal plane as shown in the Figure5.4.The number of cameras is limited to a stereo vision setup(i.e.,max.2cameras with a large overlap)only.Monocular vision is also allowed.5.Touch sensors,force sensors,and temperature sensors may be placed atany position on the robot.2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots14Figure5:Illustration offield of view.6.Sensors inside the robot may measure all quantities of interest,including(but not limited to)voltages,currents,forces,movements,accelerations, and rotational speeds.They can be at any position inside the robot. 4.5Communication and Control4.5.1.Robots participating in the Humanoid League competitions must act autonomously while a competition is running.No external power supply,teleop-eration,remote control,or remote brain of any kind is allowed.4.5.2.Robots may communicate only via the wireless network provided by the organizers which must support the referee box.The total bandwidth of the robots belonging to one team may not exceed1MBaud.The robots must not rely on availability or quality of the wireless network.They must be able to play if the network is not available or of low quality.Only robots are allowed to communicate by WLAN.Any other computers of team members are only allowed to communicate by tethered LAN.No other wireless communication is allowed onsite.All other wireless hardware must be deactivated.A team may be disqualified if one of the team members violates this rule.4.5.3.Robots of a team may communicate with each other at any time duringa game.They may receive start and stop signals from an off-thefield computer. This computer is only allowed to listen to the wireless communication while the ball is in play.It may be used to send game-control signals(e.g.kick-off, penalty,free kick,...)to the robots during game stoppages.Any other kind of transmission from an external computer to the robots is prohibited.The start and 2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots15 stop signal are to be sent via UDP when the ball is not in play(e.g.from a game controller/referee box via UDP broadcast).This implies that any monitoring is only done by receiving UDP communication from the robots.Sending any other transmission from an external computer to the robots has to take place during a timeout or using a direct cable between the computer and the robot during maintenance of the robot.In2009a prototype of a game controller/referee box has been introduced.It uses UDP to broadcast information to the robots like elapsed time,current score, game state(ready,set,playing,finished)and the robot-specific penalized state. The source code is open.1To encourage teams to use the referee box,10s advantage is given to teams using the referee box in any stoppage of the game (cf.Section8).4.5.4.No humans are allowed on thefield while the ball is in play.Robot handlers must receive permission from the referee prior to entering thefield.Each team may designate only one person as robot handler.The robot handler of a team may not touch a robot of another team in order to avoid any(unintentional or intentional)damage to that robot.4.6Colors and Markers4.6.1.Robots participating in the Humanoid League competitions must be mostly black or of dark grey color(i.e.RAL7011Iron Grey or darker)and non reflective.Less than10%of the total body surface may have a higher re-flectance,e.g.gray or white.Less than1%of the total body surface may be colored.Any color used for thefield(green,yellow,blue)or the ball(orange) must be avoided.Arms,legs and bodies of the robot must be of solid shape appearance.4.6.2.The robots must be marked with team markers.These markers are colored magenta for one team and cyan for the other team.Robot legs and arms must be covered by team markers.If both teams cannot agree,which team color to use,a coin will beflipped15minutes prior to the game to assign the team colors.4.6.3.The robots of each team must be uniquely identifiable.They must be marked with numbers or names.The goal keeper robot must be marked uniquely that it can be easily distinguished from the other robots of a team by the referees.1The source code of the game controller/referee box is available from /projects/robocupgc/,see also http://www.tzi.de/humanoid.2010RoboCup Soccer Humanoid League Rules and Setup4The Design of the Robots164.7Safety4.7.1.Robots participating in the Humanoid League competitions must not pose any danger to humans,other robots,or thefield of play.Anyone is allowed to take every action necessary to prevent urgent harm.4.7.2.The robots must be constructed in a way that offenses described in Sec-tion12are avoided.Robots violating above safety requirements will be excluded by the referee from the ongoing game.They may be excluded by the league organization committee from the remainder of the tournament.4.8RobustnessRobots participating in the Humanoid League competitions must be constructed in a robust way.They must maintain structural integrity during contact with the field,the ball,or other players.Their sensing systems must be able to tolerate significant levels of noise and disturbance caused by other players,the referees, robot handlers,and the audience.2010RoboCup Soccer Humanoid League Rules and Setup5The Referee175The Referee5.1.Each match is controlled by a referee who has full authority to enforcethese rules in connection with the match to which he has been appointed.5.2.The referee ensures that thefield and the ball are in proper condition.Heensures that the robot players meet the requirements of Section4.5.3.The referee acts as timekeeper and keeps a record of the match.He stops,suspends or terminates the match,at his discretion,for any infringements of the rules or because of outside interference of any kind.5.4.The referee allows play to continue when the team against which an offensehas been committed will benefit from such an advantage and penalizes the original offense if the anticipated advantage does not ensue at that time.5.5.He punishes the more serious offense when a player commits more thanone offense at the same time and takes disciplinary action against players guilty of cautionable and sending-offoffenses.He is not obliged to take this action immediately but must do so when the ball next goes out of play.5.6.The referee takes action against team officials who fail to conduct them-selves in a responsible manner and may,at his discretion,expel them from thefield of play and its immediate surrounds.He ensures that no unau-thorized persons enter thefield of play.5.7.The referee acts on the advice of assistant referees regarding incidentswhich he has not seen.Some referee duties,like time keeping and keepinga record of the match,may be delegated to one of the assistant referees.5.8.The decisions of the referee regarding facts connected with play arefinal.The referee may only change a decision on realizing that it is incorrect or, at his discretion,on the advice of an assistant referee,provided that he has not restarted play.2010RoboCup Soccer Humanoid League Rules and Setup6The Assistant Referees186The Assistant Referees6.1.One or more assistant referees are appointed for a match whose duties,subject to the decision of the referee,are to indicate when the whole of the ball has passed out of thefield of play,which side is entitled to a corner kick,goal kick or throw-in,and when misconduct or any other incident has occurred out of the view of the referee.6.2.The assistant referees might be assigned additional duties,such as timekeeping and keeping a record of the match.6.3.The assistant referees also assist the referee to control the match in accor-dance with these rules.6.4.In the event of undue interference or improper conduct,the referee willrelieve an assistant referee of his duties and make a report to the league organizing committee.2010RoboCup Soccer Humanoid League Rules and Setup7The Duration of the Match197The Duration of the Match7.1Periods7.1.1.The match lasts two equal periods of10minutes.Players are entitled to an interval at half-time.The half-time interval must not exceed5minutes.7.1.2.Allowance is made in either period for all time lost through,e.g.sub-stitution(s),timeouts,and wasting time.The allowance for time lost is at the discretion of the referee.7.1.3.In the knock-out games of a tournament two further equal periods of5 minutes each are played if the game is not decided after the regular playing time. If during regular playing time none of the two teams in a knock-out match was able to kick the ball to reach their respective opponent’s goal the extra time is skipped and the game immediately continues by thefive alternating penalty kick trials(cf.Section14).7.2TimeoutsA team may extend a stoppage of the game by taking a timeout.During a timeout robots may be serviced.Each team may take at most one timeout per period.If a team is not ready to resume the game when the referee wants to start the game,it has to take a timeout.If there is no timeout left,the referee will start the game anyway.A timeout ends automatically after120s.A timeout also ends when the team signals its end to the referee.2010RoboCup Soccer Humanoid League Rules and Setup8The Start and Restart of Play208The Start and Restart of Play8.1Preliminaries8.1.1.Access to thefield is given to both teams at least15minutes prior to the scheduled kick-offtime.A coin is tossed and the team which wins the toss decides which goal it will attack in thefirst half of the match.The other team takes the kick-offto start the match.The team which wins the toss takes the kick-offto start the second half of the match.In the second half of the match the teams change ends and attack the opposite goals.8.1.2.If both teems cannot agree on the color of their team makers,a coin is tossed and the markers are exchanged at halftime.8.1.3.A match must start at the scheduled time.In exceptional situations only,the referee may re-adjust the time for starting the game in accordance with both team leaders.All robots of a team are started(and stopped)by receiving a signal through wireless communication from outside thefield.In exceptional cases,starting and stopping robots manually may be allowed by the referee. 8.2Kick-off8.2.1.A kick-offis a way of starting or restarting play at the start of the match, after a goal has been scored,at the start of the second half of the match,at the start of each period of extra time,where applicable.After a team scores a goal, the kick-offis taken by the other team.8.2.2.A goal may not be scored directly from the kick-off.Either the ball must move20cm from the kick-offpoint or must be touched by another player before being kicked towards the goal.If the ball is kicked directly towards the goal the kick-offis awarded to the opposing team.8.2.3.The procedure for kick-offis as follows:•The referee gives the signal“READY”that all robots have to reach their own half of thefield.Robots not being able to position autonomously in their own half may be placed by their respective robot handler.•The opponents of the team taking the kick-offare outside the center circle until the ball is in play.2010RoboCup Soccer Humanoid League Rules and Setup8The Start and Restart of Play21•The referee gives the signal“SET”.The referee calls robots illegally posi-tioned to be set back manually by the respective robot handler to the outer line of their goal area.Onefield player of a manually or illegally positioned team suffers a removal penalty(cf.Section12).•The ball is stationary on the center mark.•The referee gives the signal“PLAY”or whistles.•The ball is in play when it is touched or10seconds elapsed after the signal.8.2.4.Robots being able to autonomously reposition themselves can take any position on thefield that is consistent with above requirements.Robots not able to autonomously reposition themselves,e.g.robots being carried or joysticked around by human team members,have to start from a position not closer to thefield halfway line than the outer line of the goal area.If all robots of the team executing the kick-offcannot autonomously reposition themselves,then one robot may be placed into the center circle.8.2.5.If one or both of the teams in a match have permission to use a manual startup procedure,the referee gives the two signals“SET”and“PLAY”with an interval of exactly10seconds.Robot players without remote start capability may be started on thefield after the“SET”signal.They may not move before the “PLAY”signal was given by the referee.Robots with autonomous positioning ability are given between15and30seconds for re-positioning after a goal has been scored by one of the teams before the“SET”signal for kick-offis given by the referee.All human team members must leave thefield of play immediately after the“SET”signal and before the“PLAY”signal.8.2.6.A team which uses manual kick-offand not kick-offwith the referee box is punished by a penalty of having to wait for10s after the signal”PLAY”before they are allowed to locomote.If such a team has kick-offthen at the signal ”PLAY”the referee immediately moves the ball from the kick-offposition to a position somewhere on the center line and outside of the center circle and the ball is in play.8.2.7.If a robot is moving for a significant time between“SET”and“PLAY”signals or repeatedly violates Rules8.2.3or8.2.6,it will be punished by a removal penalty(cf.Section12).8.2.8.If a robot handler has not left thefield by the“PLAY”signal,a yellow card is shown to the robot closest to the incident.If the game has been influenced, 2010RoboCup Soccer Humanoid League Rules and Setup8The Start and Restart of Play22 the kick-offwill be repeated and the team committed the offence has to start from a position not closer to thefield halfway line than the outer line of the own goal area.8.3Dropped Ball8.3.1.A dropped ball is a way of restarting the match after a temporary stoppage which becomes necessary,while the ball is in play,for any reason not mentioned elsewhere in the rules.In particular,the referee may call a game-stuck situation if there is no progress of the game for30s.8.3.2.The game is continued at the center mark.A goal can be scored directly from a dropped ball.The procedure for dropped ball is the same as for kick-off, except that the robots of both teams must be outside the center circle.The ball is in play immediately after the referee gives the signal.8.3.3.If a player moves too close to the ball before the referee gives the signal,a kick-offis awarded to the opponent team.2010RoboCup Soccer Humanoid League Rules and Setup11Offside239The Ball In and Out of Play9.1.The ball is out of play when it has wholly crossed the goal line or touchline whether on the ground or in the air or when play has been stopped by the referee.9.2.The ball is in play at all other times,including when it rebounds from agoalpost,crossbar,corner pole,or human and remains in thefield of play.10The Method of Scoring10.1.A goal is scored when the whole of the ball passes over the goal line,be-tween the goalposts and under the crossbar,provided that no infringement of the rules has been committed previously by the team scoring the goal.10.2.The team scoring the greater number of goals during a match is the winner.If both teams score an equal number of goals,or if no goals are scored, the match is drawn.10.3.For knock-out matches ending in a draw after regular time,extra time,penalty kicks,and scoring times will be used to determine the winner of a match.10.4.An abandoned match is replayed unless the league organization committeedecides otherwise.If a team chooses to forfeit a match in the round robin games the other team plays on an empty goal.If a team chooses to forfeit in a knock-out game the other team continues in the competition.Teams may choose to forfeit games at any stage prior to the end of the game.10.5.If the current score in a match has a goal difference of10goals(e.g.,10:0,11:1,12:2etc.),then the referee will terminate the match and the score will be recorded as the current score.11OffsideThe offside rule is not applied.2010RoboCup Soccer Humanoid League Rules and Setup。
