Version: 16.0.2 Date:1st April 2018, 16:16 HST

 HuroCup Laws of the GameTriple Jump

1Jacky Baltes, 2Karla Anhel Camarillo Gomez and 3Kuo-Yang Tu,

1Educational Robotics Center

Department of Electrical Engineering

National Taiwan Normal University

Taipei, 10610, Taiwan

jacky.baltes@ntnu.edu.tw

2Departament of Mechanical Engineering

Robotics and Biomechanical Systems

Tecnológico Nacional de México en Celaya

Celaya, Guanajuato, 38010, Mexico

karla.camarillo@itcelaya.edu.mx

3Institute of Electrical Engineering

National Kaohsiung First University of Science & Technology

Kaohsiung, 811, Taiwan

tuky@nkfust.edu.tw

Abstract

The following rules and regulations govern the triple jump event of HuroCup, a robotic game and robotics benchmark problem for humanoid robots.

Latest Version of the Rules for HuroCup

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

Changes to the Triple Jump rules of HuroCup

The long jump event was introduced in 2015. The triple jump will be introduced in 2018.

Triple Jump

The goal of the triple jump competition is to encourage research in extremely dynamic humanoid robots able to create strong forces and compliant enough to allow for a soft landing.

HuroCup Triple Jump - Laws of the Game

The following laws describe the specifics of the triple jump 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.

[TJ-1]: Field of Play

[TJ-1.1]: The triple jump competition is played on a field with a minimum dimension of 1.8m by 1.8m. See Figure Long Jump Field.

[TJ-1.2]: The field is marked with two lines: (a) the start line, and (b) the jump line. The distance between the start line and the jump line is \$LL.

[TJ-1.3]: The width of all lines is \$L.

 Dimension Comment Kid Size Adult Size U19 \$A Distance between start and takeoff board 20cm 40cm 0cmU19 can start directly with the jump. \$B Length of triple jump track 10cm 10cm 10cm \$C Length of landing pit 100cm 100cm 100cm \$D Width of Takeoff Board 5cm 5cm 5cm \$E Width of Indicator Board 5cm 5cm 5cm \$F Width of Runway track 50cm 50cm 50cm \$G Width of Landing pit 100cm 100cm 100cm

Triple Jump Boards

The takeoff board as well as the indicator board has a height between 1mm to 2mm.

[TJ-2]: Number of Robots

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

[TJ-3]: The Players

[TJ-3.1]: Please refer to General - HuroCup Laws of the Game for detailed information about the players.

[TJ-4]: The Referee

[TJ-4.1]: Please refer to General - HuroCup Laws of the Game for detailed information about the referee and his or her duties.

[TJ-5]: The Assistant Referee

[TJ-5.1]: Please refer to General - HuroCup Laws of the Game for detailed information about the assistant referee and his or her duties.

[TJ-6]: Game Play

[TJ-6.1]: A single robot is designated the jumper. All other robots must be outside of the playing field.

[TJ-6.2]: The only robot allowed to move during a run is the designated jumper.

[TJ-6.3]: The jumper will be placed by the handler in the area at least \$A from the takeoff board in the center of the running track.

[TJ-6.4]: The referee will signal the start of the competition by blowing the whistle.

[TJ-6.5]: After the referee gives the start signal, the robot must walk on the runway to reach the takeoff board. From the takeoff board, the robot must use a sequence of at most three jumps to move as far along the running track/landing pit as possible.

[TJ-6.6]: A robot has a maximum of three jumps. If a robot remains standing after the first and second jump, then it may continue with the next jump. If a robot falls, that is any part of the robot other than the foot touches the ground, then the try is terminated and the distance will be measured at that time.

[TJ-6.7]: A robot is not allowed to leave the playing field or the runway track, that is at least one part of the foot must remain inside the running track/landing pit at all times.

[TJ-6.8]: Each robot may have at most one human handler associated with it.

[TJ-6.9]: The human handlers are not allowed to interfere in any way with other robots, the referee, or other human handlers.

[TJ-6.10]: A human handler may only enter the playing field or touch his/her robot with the permission of the referee.

[TJ-6.11]: 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 has successfully made a jump,
2. the robot was unable to jump within 1 min after the referee signalled the start of try,
3. is immobilized by a technical defect,
4. the robot leaves the playing area by completely crossing the start line or the implicit side lines of the rectangle formed by the runway and the triple jump track or lands out of the landing pit.

[TJ-6.12]: At the end of the try, another robot will be designated the jumper.

[TJ-6.13]: There are three rounds in the event. After all robots have jumped, the next round is started immediately afterwards. The order of the robots is the same as the first round.

[TJ-7]: Fouls and Misconduct

[TJ-7.1]: The robot did not have both feet in the air during at least part of each jump.

[TJ-7.2]: The robot handler touches the robot.

[TJ-7.3]: The robot cross the indicator board.

[TJ-7.4]: The robot did not touch the takeoff board.

[TJ-7.5]: Any infractions as listed by General - HuroCup Laws of the Game as far as they are applicable in this event.

[TJ-7.6]: Any team that commits one of the infractions listed in this section will be penalized by having the try declared invalid.

[TJ-8]: Method of Scoring

[TJ-8.1]: The jump distance is defined as the distance measured from the indicator board to the back of the foot that touches the landing pit and is nearer to the takeoff board.

[TJ-8.2]: As the triple jump event is a very dynamic event and requires extremely quick measurements, a couple of cameras will be mounted beside the robot in the triple jump track and the landing pit. To aid in calibration of the camera image, a measuring tape will be mounted into the landing pit.

[TJ-8.3]: All robots that have not managed to perfomed the three jumps or they have not reached the landing pit are assigned 0 points.

[TJ-8.4]: Among the robots that have perform the three jumps and have reached the landing pit, the robots are ranked (i.e., 1st place, 2nd place) based on the maximum measured distance.

[TJ-8.5]: For more details about the point allocation, please refer to Point Allocation [Organization - HuroCup Laws of the Game].

[TJ-1]: Tiebreaker

[TJ-8.6]: In case two or more robots have the same number of points after all rounds in the long jump event, the sum of the maximum long jump distances in all rounds will be used as tiebreaker.

[TJ-10.2]: In case two or more robots have the same number of points after all rounds and are still tied after applying the previous tiebreaker, the maximum measured distance in a single round will be used as a tiebreaker.

Official World Records

This section contains the list of official world records for the HuroCup Robot triple jump competition that will be introduced in the 2018 WorldCup.

Kid Size

 Date Event Team Affiliation Distance