Version: 17.0.1 Date: Wed Jan 01 2017 20:39:44 GMT-0600 (CST)

HuroCup Laws of the Game

Mini DRC (Pro/U19/U14)

“Modular Robot Disaster Relief Challenge”

Jacky Baltes

Educational Robotics Center

Department of Electrical Engineering

National Taiwan Normal University

Taipei, 10610, Taiwan

jacky.baltes@ntnu.edu.tw

Soroush Sadeghnejad

Bio-Inspired System Design Laboratory

Mechanical Engineering Department

Amirkabir University of Technology

Tehran, 158754413, Iran

s.sadeghnejad@aut.ac.ir

Abstract

The following rules and regulations govern the Mini-DRC event at the FIRA Challenge competition. The main focus of the Mini-DRC competition is on developing tele-operated robotics.


Latest Version of the Rules for FIRA Challenge

The latest official version of the rules of the game for FIRA Challenge is always available from the HuroCup Facebook Page.

Changes to the Mini-DRC rules of FIRA Challenge

There are significant changes to the Mini-DRC rules from previous years.

Mini DRC

The Mini DRC event aims at providing a challenging environment for tele-operated robotics. Tele-operation is a mode of operation where a robot is controlled by a human operated that is located in a room with indirect line of sight of the playing field. This is different from remote-controlled robots, where the operator has direct line of sight of the robot and its environment. Since fully autonomous robots are still a blue sky research dream, tele-operated robots, that can blend advantages of human perception and reasoning with robot controlled motion is of great importance in avatar robots, rescue robots, and health robots.

In 2015, the Department of Defense of the United States through its advanced research department held a competition for tele-operated robots called the DARPA Robotics Challenge. In this challenge, a full sized humanoid robot had to complete a series of tasks including driving an open cab truck, open and close valves, use power tools, and walk up a set of stairs.

Many of these challenges are already part of the FIRA Sport (HuroCup) competition.

The Mini DRC competition is a scaled down version of the original DRC competition.

A single robot must first cross a set of obstacles. Afterwards, the robot has to cross an obstacle parkour, uneven terrain, and climb a ladder. In between, there are several additional challenges that require the robot to complete common rescue tasks using simulated equipment: turn a valve on and off, enter and leave through a door, push a button, weld a joint on a pipe, and rescue a victim.

HuroCup Mini DRC - Laws of the Game

The following laws describe the specifics of the Mini DRC event. For general specifications relevant to all HuroCup events (e.g., robot dimensions, playing field and lighting, responsibility of the referees) please refer to General - HuroCup Laws of the Game.

[MD-1]: Field of Play

[MD-1.1]: The playing field for the Mini DRC competition consists of nine separate sections: obstacles, valve, uneven terrain, pipe, door, ladder, stairs, ramp, life-saving package and victims.

The general layout is shown in Figure Mini DRC Field.

The field consists of six sections:

  1. Obstacles - A series of obstacles similar to the HuroCup Obstacle Run event are placed on the field. Please refer to HuroCup Obstacle Run for detailed specifications of the obstacles.
  2. Valve - A wall with a simulated valve is mounted on one side of the field. The valve is controlled by a long slim handle. Two different valve will be used for both Kid and Adult Sizes robots which is mounted on different heights (25cm for KidSize Robots and 50cm for AdultSize ones). The valve handle is red, with a maximum thickness (diameter) of 3cm.
  3. Uneven terrain - An uneven terrain similar to the FIRA Sport Laws (HuroCup Lift and Carry) competition is placed in the field. Please refer to FIRA Sport Laws (HuroCup Lift and Carry) for detailed specifications of the uneven terrain.
  4. Pipe – A round cardboard tube is covered with white paper and placed on the ground. The diameter of the pipe is between 10 cm to 20cm and 100cm in length. The robot has to simulate welding a joint on part of the pipe by drawing a line that follows a given path on paper using a pen or similar. If the robot draws outside of the line, the trial will not be counted. In the first year, the safety handler is allowed to hand the pen to the robot at the start point of the pipe challenge. The teams can use their own pen.
  5. Door - A door and door frame is placed on the field. The door is 60cm in width and 140cm in height. The door can be pushed or pulled. There is no doorknob, and the door hinges are on the left. The door’s color is brown. The door does not automatically close after opening.
  6. Ladder - A set of stairs similar to the FIRA Sport Laws (HuroCup Climbing Wall) competition is placed on one end of the playing field. Please refer to FIRA Sport Laws (HuroCup Climbing Wall) for detailed specifications of the stairs. The end of stairs move onto a table of the appropriate height.
  7. Stairs: There are 5 steps with the height of about 5cm and a width of at least 20cm where the color of the steps alternate between orange and white. There are no restrictions on how to move down the stairs.
  8. Ramp: A ramp with the slope of at most 25 degree enabling the robot to go down from the room which is marked with a white line on the gray/black area.
  9. Victim – A doll representing a victim is placed onto the table.

Ladder

Valve

Stairs & Ramp

Victims  & Life Saving Package

Image result for ‫عروسک کلاه قرمزی‬‎

Pipe

Victims

Dimension

Comment

Kid Size

Adult Size

Junior Size

$L

Length of Field

6 m

6 m

6m

$W

Width of Field

3 m

3 m

3 m

Mini DRC Field

The field of play for the Mini DRC competition.

Example of Welding Path, Robot weld, and error score

[MD-2]: Number of Robots

[MD-2.1]: A single robot competes in a match.

[MD-3]: Number of Operators

[MD-3.1]: A semi-autonomous or tele-operated robot may be controlled by a maximum of three operators.

[MD-4]: The Players

[MD-4.1]: Please refer to FIRA Sport Laws (General - HuroCup Laws of the Game) for detailed information about the players.

[MD-4.2]: Note that in the Mini DRC tele-operated, semi-autonomous, and fully autonomous robots may be used.

[MD-4.3]: The robot may use wireless or wired communication to communicate with a set of operators. Teams that want to use their own wire or wireless communication must provide their own communication equipment.

[MD-4.4]: A robot may also receive power via a cable or tether. Teams must provide their own tether.

[MD-5]: The Referee

[MD-5.1]: Please refer to FIRA Sport Laws (General - HuroCup Laws of the Game) for detailed information about the referee and his or her duties.

[MD-6]: The Assistant Referee

[MD-6.1]: Please refer to FIRA Sport Laws (General - HuroCup Laws of the Game) for detailed information about the assistant referee and his or her duties.

[MD-7]: Game Play

[MD-7.1]: A single robot is designated the runner. All other robots must be outside of the playing field.

[MD-7.2]: Operators for the robot must be placed behind a wall, so that no direct line of sight is possible to the robot and the playing field.

[LC-5.4]: The runner will be placed at a random location on the edge of the obstacle section.

[LC-5.6]: The referee will signal the start of the competition by blowing the whistle.

[LC-5.7]: After the referee gives the start signal, the runner must immediately step onto to the field. The runner must first complete a total of 6 sections: obstacles, valve, uneven terrain, pipe, door, ladder/ramp/stairs. After picking up the victim, the robot must then complete another 6 sections in the reverse order: ladder/ramp/stairs, door, uneven terrain, valve, and obstacles. Note that ladder, ramp, and stairs can each only be scored once - that is the robot may go up the ladder and down via the stairs and the ramp or vice versa, but it cannot go and up and down via the ladder only or the ramp and stairs only.

[MD-7.3]: Each robot may have at most one human handler associated with it.

[MD-7.4]: The human handlers are not allowed to interfere in any way with other robots, the referee, or other human handlers.

[MD-7.5]: The human handlers are not allowed to communicate in any way with the operators.

[MD-7.6]: A human handler may only enter the playing field or touch his/her robot with the permission of the referee.

[MD-7.7]: The human handler is allowed to manipulate a tether if necessary. In this case, the tether must remain slack and the human handler is not allowed to help the robot by manipulating the tether. For example, the handler cannot help the robot to balance by holding the tether up.

[MD-7.8]: The end of the competition is signaled by the referee by blowing the whistle a second time. The referee terminates the competition if

  1. the robot leaves the playing field completely,
  2. The maximum time of 25 minutes has elapsed.

[MD-7.9]: At the end of the run, another robot will be designated the runner.

[MD-7.10]: The operators may indicate that they wish to skip a section. In this case, the robot will not receive any points for the current section and must continue from the starting point by the next section as indicated by the referee.

[MD-8]: Fouls and Misconduct

[MD-8.1]: The robot does not step directly into the obstacle section at the start of the run.

[MD-8.2]: The robot touches an obstacle in the obstacle section. In this case, the robot must be repositioned at the starting point of the obstacle section.

[MD-8.3]: The robot handler touches the robot without permission of the referee.

[MD-8.4]: Any infractions as listed by FIRA Sport Laws (General - HuroCup Laws of the Game) as far as they are applicable in this event.

[MD-8.5]: Any team that commits one of the infractions listed in this section will be penalized by having the all points voided.

[MD-9]: Method of Scoring

[MD-9.1]: A robot that completes a section successfully will receive 1 marker.

[MD-9.2]: Any robot with 0 markers is automatically awarded no rank and 0 points.

[MD-9.3]: Among the robots that have at least one marker, the robots are ranked (i.e., 1st place, 2nd place) based on the number of markers.

[MD-9.4]: For more details about the point allocation, please refer to FIRA Sport Laws (Point Allocation [Organization - HuroCup Laws of the Game]).

[MD-10]: Tiebreaker

[MD-10.1]: If more than one team has the same number of points, then the time to achieve the last point will be used as a tiebreaker.