SumoBot – Mini-Sumo Robotics ® Assembly Documentation and Programming VERSION 2.
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Preface · Page iii WEB SITE AND DISCUSSION LISTS The Parallax web site (www.parallax.com) has many downloads, products, customer applications and on-line ordering for the components used in this text. We also maintain several e-mail discussion lists for people interested in using Parallax products. These lists are accessible from www.parallax.com via the Support → Discussion Groups menu.
Table of Contents · Page v Table of Contents Preface ..........................................................................................................vii Recognitions ...............................................................................................vii Audience....................................................................................................viii Educational Concepts from the SumoBot ..................................................viii Copyright and Reproduction ...
Page vi · SumoBot – Mini Sumo Robotics Appendix B: Standard Mini-Sumo Competition Rules ............................ 55 Appendix C: Mini-Sumo Ring .................................................................... 65 Appendix D: SumoBot PCB Schematic ....................................................
Preface · Page vii PREFACE Like its human counterpart, robot Sumo was born and thrives in Japan. It was introduced to the United States in the early 1990's by Dr. Mato Hattori. One of the early American adopters of robot Sumo was noted Seattle Robotics Society member, Bill Harrison, who organized some of the first U.S. robot Sumo tournaments. While things started out very slowly, robot Sumo eventually caught on.
Page viii · SumoBot – Mini Sumo Robotics This text was authored by Jon Williams of Parallax, and contains additional material by several contributors, including Andy Lindsay and Ken Gracey of Parallax, as well as Bill Wong of Pennsylvania. Bill is an editor with Electronic Design magazine and a serious BASIC Stamp® robotics enthusiast. Bill enjoys creating BASIC Stamp powered robots with his daughter, who has gone on to win several county and state awards with her maze solving robotics projects.
Chapter 1: Assemble the SumoBot · Page 1 Chapter 1: Assemble the SumoBot There's an old axiom among robot enthusiasts that states, "It's harder than it looks...." Speaking from experience, we know this to be true. That said, the purpose of this statement is not to alarm or dissuade the new robot builder, but simply to remind him or her that robotics – even on a small scale – is a serious endeavor and shouldn't be taken lightly. Patience is indeed a virtue.
Page 2 · SumoBot – Mini Sumo Robotics LET’S BUILD THE SUMOBOT The SumoBot chassis design leaves little room for mechanical alteration; a requirement to stay within standard Mini-Sumo competition rules. Where the student is encouraged to explore changes is in the types of sensors used to detect the Sumo ring border and the opponent and the software algorithms used to control the SumoBot robot’s behaviors.
Chapter 1: Assemble the SumoBot · Page 3 Step #1 Install the Battery Box Parts Required: • • • • Battery Box (2) 4/40 3/8" long flat-head countersunk machine screws (2) 4/40 nuts SumoBot chassis Stand the SumoBot on its PCB mounting ears. Install the plastic battery pack using two 4/40 3/8” flat-head screws and nuts. The screws will be countersunk into the battery pack when tightened and should be out of the way of the batteries.
Page 4 · SumoBot – Mini Sumo Robotics Step #3 Install the Rear SumoBot PCB Stand-offs Parts Required: • • • (2) 5/8" round standoffs (2) 4/40 3/8" long panhead machine screws SumoBot chassis Using a 4/40 3/8" pan-head machine screw, attach each stand-off to the rear of the SumoBot chassis.
Chapter 1: Assemble the SumoBot · Page 5 Step #5 Mounting the PCB Parts Required: • • • • • SumoBot PCB (2) 4/40 3/8" long pan-head machine screws (2) 1-1/4" round stand-offs (2) Nylon washers SumoBot chassis Nylon Washer Feed the ends of the 1" long pan-head machine screws through the front mounting holes on the SumoBot chassis. Secure the rear side of the SumoBot PCB to the 5/8" standoffs with two 3/8" pan-head machine screws.
Page 6 · SumoBot – Mini Sumo Robotics Step #7 Mount the Wheels Parts Required: • • • (2) Prepared wheels/tires (2) Black servo-horn screws SumoBot chassis Carefully press each prepared wheel onto the servo splines. Secure each wheel with the small black Phillips head screw.
Chapter 1: Assemble the SumoBot · Page 7 Step #9 Install Line Sensor Wires Parts Required: • • (2) 10" 3-pin extension cables SumoBot chassis Carefully feed each 10" 3-pin extension cable through the center chassis slot. Step #10 Install the QTI Line Sensors Parts Required: • • • (2) QTI line sensors (2) 4/40 1/4" long pan-head machine screws SumoBot chassis Using two 4/40 1/4” pan-head machine screws, attach the QTI line sensors to the 11/4" round stand-offs.
Page 8 · SumoBot – Mini Sumo Robotics Step #11 Make the Connections Plug the servo motors and QTI sensors into the SumoBot PCB connectors as indicated below. Note that the "B" pin on each connector is for the black wire. X7 = Left Servo Motor X6 = Right Servo Motor X5 = Left QTI Line Sensor X4 = Right QTI Line Sensor Connect the battery pack wires to SumoBot PCB connector X1. The battery pack's white-striped lead connects to the + terminal.
Chapter 1: Assemble the SumoBot · Page 9 Step #12 Connecting the Servos to Ground Parts Required: • (2) Short pieces 22gauge solid wire Using short pieces of 22-gauge solid wire, connect Vs1 and Vs2 to Vss as shown above. These jumpers provide the required ground (Vss) connection to the servos, and your SumoBot will not move without them. You may strip and trim a jumper wire for this purpose.
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Chapter 2: SumoBot Locomotion · Page 11 Chapter 2: SumoBot Locomotion The first task of any Mini-Sumo robot is to move – most competition rules do not allow the robot to stop (without competitor contact) for more than a few seconds. In this experiment you will learn how to get the SumoBot moving and learn to take control over its motion. HOW A SERVO WORKS Normal (un-modified) hobby servos are very popular for controlling the steering systems in radio-controlled cars, boats and planes.
Page 12 · SumoBot – Mini Sumo Robotics Figure 2.1: Milliseconds and Microseconds Details 1 ms = 1 µs = 1 s = 1× 10 - 3 s 1000 1 s = 1× 10 - 6 s 1,000,000 A voltage level is measured in volts, which is abbreviated with an upper case V. The SumoBot PCB has sockets labeled Vss, Vdd, and Vin. Vss is called the system ground or reference voltage. When the battery pack is plugged in, Vss is connected to its negative terminal.
Chapter 2: SumoBot Locomotion · Page 13 programmed to produce this waveform using any of its I/O pins. In this example, the BASIC Stamp sends a 1500 µs pulse to P13 (left servo) and P12 (right servo). When the pulse is done being executed the signal pin is low. Then, the BASIC Stamp creates a 20 ms pause. Figure 2.3: Servo Pulse Train Analysis This pulse train has a 1500 µs high time and a 20 ms low time.
Page 14 · SumoBot – Mini Sumo Robotics Figure 2.4: SumoBot Servo Control Pulses For pulses between the 1500 µs stop point and the extremes on either end of the control range, there is a degree of speed control. This range is not linear, however, and at pulse widths just outside the stop band, servo current increases dramatically.
Chapter 2: SumoBot Locomotion · Page 15 ' SumoBot_2.1_Motor_Align.BS2 ' {$STAMP BS2} ' {$PBASIC 2.
Page 16 · SumoBot – Mini Sumo Robotics Figure 2.5: SumoBot Servo Adjustment Ports Don't worry, for the moment, how the program works; that will become clear in the next section. SUMOBOT MOTION TEST With the motors aligned, it is time to test the SumoBot for essential motion control. Load the following program into the BASIC Stamp Editor, and then download it to the SumoBot: ' SumoBot_2.2_Motor_Test.BS2 ' {$STAMP BS2} ' {$PBASIC 2.
Chapter 2: SumoBot Locomotion · Page 17 LRevFast CON 500 RFwdFast RFwdSlow RStop RRevSlow RRevFast CON CON CON CON CON 500 700 750 800 1000 ' left motor rev; fast ' ' ' ' ' right right right right right motor motor motor motor motor fwd; fwd; stop rev; rev; fast slow slow fast ' -----[ Variables ]------------------------------------------------------pulses VAR Byte ' servo pulses counter ' -----[ Initialization ]-------------------------------------------------Reset: LOW LMotor LOW RMotor PA
Page 18 · SumoBot – Mini Sumo Robotics FOR pulses = 1 TO 55 PULSOUT LMotor, LFwdFast PULSOUT RMotor, RRevFast PAUSE 20 NEXT ' spin turn - clockwise Hold_Position: DO PULSOUT LMotor, LStop PULSOUT RMotor, RStop PAUSE 20 LOOP END As soon as the program is downloaded, remove the programming cable from the SumoBot. This program runs through key motion tests, and then stops the SumoBot. When the SumoBot stops moving after its final spin, move the power switch to position 0 (off).
Chapter 2: SumoBot Locomotion · Page 19 The core of the program, at the label Main, is broken down into several sections: • • • • • • • Move forward slowly Pivot turn 90 degrees on left wheel Move forward quickly Pivot turn 180 degrees on right wheel Move forward quickly Spin turn (rotates SumoBot around its own center) 360 degrees Hold position Note: If the SumoBot starts by backing up, the motor connections are reversed.
Page 20 · SumoBot – Mini Sumo Robotics Figure 2.6: BASIC Stamp Editor with SumoBot_ 2.2_Motor_Test.BS2 Note: The figure above shows the edit window set to split-pane mode so that two sections of the program may be viewed simultaneously.
Chapter 2: SumoBot Locomotion · Page 21 CHALLENGE YOURSELF 1. Modify the motor speed constants so that your SumoBot travels straight at low and high speeds. 2. Determine the proper loop count to cause the SumoBot to turn 30 degrees, 45 degrees and 90 degrees. 3.
Chapter 3: SumoBot Sensors and Border Detection · Page 23 Chapter 3: SumoBot Sensors and Border Detection Once the SumoBot is moving, the next task is to scan the playing surface to make sure that it doesn't drive itself out of the ring. The task is accomplished by two specialized line detection sensors called QTIs. The QTI uses a reflective infrared sensor to allow the SumoBot to "look" for the ring's border.
Page 24 · SumoBot – Mini Sumo Robotics After the QTI is activated, the capacitor is discharged by bringing the R line high and holding it for about one millisecond. RCTIME is then used to measure the time required to charge the capacitor to a specified level. This timing will be controlled by the current flow through the phototransistor side of the QRD1114.
Chapter 3: SumoBot Sensors and Border Detection · Page 25 Read_Left: HIGH LLinePwr HIGH LLineIn PAUSE 1 RCTIME LLineIn, 1, lLine LOW LLinePwr RETURN ' activate sensor ' discharge QTI cap ' read sensor value ' deactivate sensor Read_Right: HIGH RLinePwr HIGH RLineIn PAUSE 1 RCTIME RLineIn, 1, rLine LOW RLinePwr RETURN ' activate sensor ' discharge QTI cap ' read sensor value ' deactivate sensor HOW IT WORKS This program starts by activating the left QTI line sensor, then bringing its R line high to disc
Page 26 · SumoBot – Mini Sumo Robotics Figure 3.2: QTI Test Program Output Don't worry about small discrepancies between the QTI values over the same color – this is due to minor variations in components and won't adversely affect the SumoBot robot’s performance. For convenience in a competition program, the QTI code should be moved into a subroutine that can be called from any point in the program.
Chapter 3: SumoBot Sensors and Border Detection · Page 27 lbLeft lbRight VAR VAR lineBits.BIT1 lineBits.
Page 28 · SumoBot – Mini Sumo Robotics The technique for converting the raw sensor reading to a bit value takes advantage of the {optional} comparison parameter with the LOOKDOWN function. Without the comparison parameter, LOOKDOWN uses equality to scan its table for a value match. By using the comparison parameter, we can test a range of values with a single table entry.
Chapter 3: SumoBot Sensors and Border Detection · Page 29 The movement logic is controlled by SELECT-CASE. The purpose of SELECT-CASE is to replace several IF-THEN commands that would examine the same control variable.
Page 30 · SumoBot – Mini Sumo Robotics Figure 3.4: Start LED Connections on the SumoBot PCB ' SumoBot_3.3_Simple_Mini_Sumo.BS2 ' {$STAMP BS2} ' {$PBASIC 2.
Chapter 3: SumoBot Sensors and Border Detection · Page 31 LRevFast CON 500 RFwdFast RFwdSlow RStop RRevSlow RRevFast CON CON CON CON CON 500 700 750 800 1000 ' left motor rev; fast ' ' ' ' ' right right right right right motor motor motor motor motor fwd; fwd; stop rev; rev; fast slow slow fast ' -----[ Variables ]------------------------------------------------------lLine rLine lineBits lbLeft lbRight VAR VAR VAR VAR VAR Word Word Nib lineBits.BIT1 lineBits.
Page 32 · SumoBot – Mini Sumo Robotics PULSOUT LMotor, LRevFast PULSOUT RMotor, RFwdFast PAUSE 20 NEXT GOTO Main Spin_Right: FOR pulses = 1 TO 20 PULSOUT LMotor, LFwdFast PULSOUT RMotor, RRevFast PAUSE 20 NEXT GOTO Main About_Face: FOR pulses = 1 TO PULSOUT LMotor, PULSOUT RMotor, PAUSE 20 NEXT FOR pulses = 1 TO PULSOUT LMotor, PULSOUT RMotor, PAUSE 20 NEXT GOTO Main 10 LRevFast RRevFast ' back up from edge 30 LFwdFast RRevFast ' turn around END ' -----[ Subroutines ]----------------------------------
Chapter 3: SumoBot Sensors and Border Detection · Page 33 HOW IT WORKS This program incorporates a very handy technique created by Andy Lindsay that allows the operator to use the SumoBot PCB's Reset button for Run/Don't Run control. This is useful for controlling the SumoBot in a competition without fumbling for the actual power switch. The code at Reset reads a byte from the BASIC Stamp's EEPROM; located at the address called RunStatus.
Page 34 · SumoBot – Mini Sumo Robotics border line) because reading the QTI sensors consumes enough time that the delay is not necessary. CHALLENGE YOURSELF 1. Experiment with the Spin_Left and Spin_Right routines so that the SumoBot generally moves toward the center after touching the border.
Chapter 4: Infrared Object Detection · Page 35 Chapter 4: Infrared Object Detection Today's hottest products seem to have one thing in common: wireless communication. Personal organizers beam data into desktop computers, and wireless remotes let us channel surf. With a few inexpensive and widely available parts, the BASIC Stamp can also use an infrared LED and detector to detect objects to the front and side of your SumoBot.
Page 36 · SumoBot – Mini Sumo Robotics The IR detectors have built-in optical filters that allow very little light except the 980 nm infrared that we want to detect onto its internal photodiode sensor. The infrared detector also has an electronic filter that only allows signals around 38.5 kHz to pass through. In other words, the detector is only looking for infrared flashed on and off at 38,500 times per second.
Chapter 4: Infrared Object Detection · Page 37 INSTALLING AND TESTING THE IR EMITTERS/DETECTORS The SumoBot is specially designed to accommodate two IR emitter/detector pairs. Before we install them, we need to assemble the IR LEDs into their shells, then bend and trim the leads so that they don't become damaged or misaligned during competition. Figure 4.1 shows the assembly IR LED (clear) into the protective shell (standoff and shield).
Page 38 · SumoBot – Mini Sumo Robotics Figure 4.2: IR Detector3 Trimming Figure 4.3 is the schematic for the SumoBot robot’s IR object sensing. Build this circuit on your SumoBot. Note that the 220 Ω resistors are already built into the SumoBot PCB; just plug in the IR emitters and your SumoBot will be ready. When aligning the IR emitter "headlights" it's a good idea to angle them slightly outward to give the SumoBot a wider field of vision. Figure 4.
Chapter 4: Infrared Object Detection · Page 39 Figure 4.4: SumoBot IR Object Detection Components Installed TESTING THE IR PAIRS The key to making each IR pair work is to send one millisecond of unfiltered 38.5 kHz FREQOUT harmonic followed immediately by testing the signal sent by the IR detector and saving its output value. The IR detector’s normal output state when it sees no IR signal is high (logic 1). When the IR detector sees the 38.
Page 40 · SumoBot – Mini Sumo Robotics LfIrOut LfIrIn RtIrOut RtIrIn PIN PIN PIN PIN 4 11 15 14 ' ' ' ' left IR LED output left IR sensor input right IR LED output right IR sensor input ' -----[ Variables ]------------------------------------------------------irBits irLeft irRight VAR VAR VAR Nib irBits.BIT1 irBits.
Chapter 4: Infrared Object Detection · Page 41 SUMOBOT MOTION CONTROL The next task is to link the SumoBot robot’s ability to "see" with the motors so that an object – the opponent – can be tracked. Load and run program 4.2 to see a demonstration of linking IR object control to the SumoBot motors. ' SumoBot_4.2_IR_Scan.BS2 ' {$STAMP BS2} ' {$PBASIC 2.
Page 42 · SumoBot – Mini Sumo Robotics Main: GOSUB Read_IR_Sensors BRANCH irBits, [Scan, Follow_Right, Follow_Left, Hold] Scan: BRANCH lastIR, [Move_Fwd, Scan_Right, Scan_Left, Move_Fwd] Move_Fwd: DEBUG HOME, "Forward", CLREOL GOTO Main Scan_Right: DEBUG HOME, "Scan Right", CLREOL PULSOUT LMotor, LFwdSlow PULSOUT RMotor, RRevSlow PAUSE 20 GOTO Main ' spin right, slow Scan_Left: DEBUG HOME, "Scan Left", CLREOL PULSOUT LMotor, LRevSlow PULSOUT RMotor, RFwdSlow PAUSE 20 GOTO Main ' spin left, slow Follow_
Chapter 4: Infrared Object Detection · Page 43 END ' -----[ Subroutines ]----------------------------------------------------Read_IR_Sensors: FREQOUT LfIrOut, 1, 38500 irLeft = ~LfIrIn FREQOUT RtIrOut, 1, 38500 irRight = ~RtIrIn RETURN ' ' ' ' modulate left IR LED read input (1 = target) modulate right IR LED read input (1 = target) HOW IT WORKS This program is functionally similar to the line detection program.
Chapter 5: Basic Competition Code · Page 45 Chapter 5: Basic Competition Code Okay, it's time to get ready for competition. The program in this chapter brings all the SumoBot robot's systems together, and adds some intelligent control. Start by adding a piezo speaker as shown in Figures 5.1 and 5.2, then load and run program 5.1. Figure 5.1: Start LED and Piezo Speaker Schematic Figure 5.
Page 46 · SumoBot – Mini Sumo Robotics ' SumoBot_5.1_Basic_Competition_Program.BS2 ' {$STAMP BS2} ' {$PBASIC 2.
Chapter 5: Basic Competition Code · Page 47 lastIr VAR Nib ' info from last reading pulses temp VAR VAR Byte Byte ' counter for motor control ' -----[ EEPROM Data ]----------------------------------------------------RunStatus DATA $00 ' run status ' -----[ Initialization ]-------------------------------------------------Reset: READ RunStatus, temp temp = ~temp WRITE RunStatus, temp IF (temp > 0) THEN END ' ' ' ' read current status invert status save for next reset okay to run? ' Sets black
Page 48 · SumoBot – Mini Sumo Robotics PULSOUT LMotor, LRevFast PULSOUT RMotor, RFwdFast PAUSE 20 NEXT lastIr = %00 GOTO Lunge ' clear scan direction Spin_Right: FOR pulses = 1 TO 20 PULSOUT LMotor, LFwdFast PULSOUT RMotor, RRevFast PAUSE 20 NEXT lastIr = %00 GOTO Lunge ' left sensor was active About_Face: FOR pulses = 1 TO PULSOUT LMotor, PULSOUT RMotor, PAUSE 20 NEXT FOR pulses = 1 TO PULSOUT LMotor, PULSOUT RMotor, PAUSE 20 NEXT lastIr = %00 GOTO Lunge ' both sensors on Shikiri ' back up from edge
Chapter 5: Basic Competition Code · Page 49 PAUSE 20 NEXT GOSUB Creep_Forward GOTO Main ' keep moving Scan_Left: FOR pulses = 1 TO 5 PULSOUT LMotor, LRevSlow PULSOUT RMotor, RFwdSlow PAUSE 20 NEXT GOSUB Creep_Forward GOTO Main ' spin left, slow Follow_Right: PULSOUT LMotor, LFwdFast PULSOUT RMotor, RRevSlow lastIR = irBits GOTO Main ' spin right, fast Follow_Left: PULSOUT LMotor, LRevSlow PULSOUT RMotor, RFwdFast lastIR = irBits GOTO Main ' spin left, fast Lunge: FOR pulses = 1 TO 25 PULSOUT LMotor
Page 50 · SumoBot – Mini Sumo Robotics INPUT StartLED PAUSE 100 NEXT ' blink LED DIRS = $0000 GOTO Reset ' disable all outputs ' reset for next round ' -----[ Subroutines ]----------------------------------------------------Read_Line_Sensors: HIGH LLinePwr HIGH RLinePwr HIGH LLineIn HIGH RLineIn PAUSE 1 RCTIME LLineIn, 1, lLine RCTIME RLineIn, 1, rLine LOW LLinePwr LOW RLinePwr ' convert readings to bits LOOKDOWN lLine, >=[1000, 0], lbLeft LOOKDOWN rLine, >=[1000, 0], lbRight RETURN Read_IR_Sensors: FR
Chapter 5: Basic Competition Code · Page 51 center of the ring, over the black surface). Using this strategy, the SumoBot can deal with variable ambient lighting conditions that may change from match to match. The Start_Delay section serves the same purpose as described previously, it's just a bit fancier in this version of the program. In this case we've added a piezo speaker. At the start, the LED illuminates and then blinks to tick away each of the five seconds in the mandated delay.
Page 52 · SumoBot – Mini Sumo Robotics opponent has been successfully pushed from the ring and a Yuko point is to be awarded. Many matches will be won when the SumoBot removes the competitor from the ring and an angle; the competitor will be out but the SumoBot will continue to push, or may go into edge-avoidance and search mode. In this case the Judge will award the Yuko point and the SumoBot can be stopped by pressing the Reset button.
Appendix A: SumoBot Parts List · Page 53 Appendix A: SumoBot Parts List All parts used in the SumoBot kit are available individually from the Parallax Component Shop4. If you can’t readily find the component you are looking for in the Component Shop enter the name of it in the on-line search box using the stock code.
Page 54 · SumoBot – Mini Sumo Robotics 700-00015 Miscellaneous 122-27400 800-00003 27000 700-00064 Nylon washer 2 SumoBot Manual Serial (programming) cable Parallax CD Parallax Screwdriver 1 1 1 1
Appendix B: Standard Mini-Sumo Competition · Page 55 Appendix B: Standard Mini-Sumo Competition Rules Reprinted with permission from Bill Harrison, Sine Robotics. Section 1: Definition of a Match Article 1 Definition The match shall be contested by two teams (At the event, one team consists of one robot with two team members, one of which is a leader.
Page 56 · SumoBot – Mini Sumo Robotics of IR light), 1 cm wide and 10cm long. 3. The Ring shall be marked by a white circular line of 2.5 cm thickness. The Ring is within the outside of this circular line. Article 4 Space There should be the space of more than 50 cm wide outside the outer side of the Ring. This space can be of any color except white, and can be of any materials or shape, as long as the basic concepts of these rules are observed.
Appendix B: Standard Mini-Sumo Competition · Page 57 Futaba's, JR's, Sanwa's, or Kondo Kagaku's. 5. For stand-alone robots, any control mechanisms can be employed. 6. Stand-alone models must be so designed that a robot starts operating a minimum of five seconds after a start switch is pressed (or any method that invokes the operation of a robot). 7. Microcomputers in a robot can be of any manufacturers and any memory sizes can be chosen. Article 6 Restrictions on Robot Design 1.
Page 58 · SumoBot – Mini Sumo Robotics extended by the Judges. 2. The team who wins two rounds or receives two "Yuko" points first, within the time limit, shall win the match. A team receives a Yuko point when they win a round. If the time limit is reached before one team can get two Yuko points, and one of the teams has received one Yuko point, the team with one Yuko point shall win. 3.
Appendix B: Standard Mini-Sumo Competition · Page 59 Article 10 End of Match The match ends when the judge calls the winner. Both contestants bow after removing their robots. Section 6: Time of Match Article 11 Time of Match One Match will be contested for a total of 3 minutes, starting and ending by the chief judge's announcements. For stand-alone robots, the clock shall start ticking 5 seconds after the start is announced. Article 12 An extended match shall be for 3 minutes, if called by the Judge.
Page 60 · SumoBot – Mini Sumo Robotics 2.1. Your opponent's robot has touched the space outside the Ring, on its own. 2.2. Either of the above takes place at the same time that the End of the Match is announced. 3. When a robot has fallen on the Ring or in similar conditions, Yuko will not be counted and the match continues. 4. When judges' decision is called for to decide the winner, the following points will be taken into considerations: 4.1. Technical merits in movement and operation of a robot 4.2.
Appendix B: Standard Mini-Sumo Competition · Page 61 Article 16 The player utters insulting words to the opponent or to the judges or puts voice devices in a robot to utter insulting words or writes insulting words on the body of a robot, or any insulting action. Article 17 A Player 1. Enters into the Ring during the match, except when the player does so to bring the robot out of the Ring upon the chief judge's announcement of Yuko or stopping the match. To enter into the Ring means: 1.1.
Page 62 · SumoBot – Mini Sumo Robotics Section 10: Injuries and Accidents during the Match Article 21 Request to Stop the Match A player can request to stop the game when he/she is injured or his/her robot had an accident and the game cannot continue. Article 22 Unable to Continue the Match Article 23 When the game cannot continue due to player's injury or robot's accident, the player who is the cause of such injury or accident loses the match.
Appendix B: Standard Mini-Sumo Competition · Page 63 Section 12: Requirements for Identifications for Robots Article 27 Identifications for Robots Some type of name or number, to identify the robot (as registered in the contest) must be easily readable on the robot's body, while the robot is in competition.
Appendix C: Mini-Sumo Ring · Page 65 Appendix C: Mini-Sumo Ring If you're handy with tools, you can build your own Mini-Sumo ring. Many home improvement centers carry precut circles (wood, MDF, Melamine) that are very close to the official dimension and can be used to create a suitable practice ring. Mini-Sumo Ring Specifications: • • • • 5 Diameter Height Surface Colors o Ring o Shikiri (start line) o Tawara (border) 77 cm / 30.3 in. 2.5 cm / 1 in. Hard Rubber Black Brown5 ( 10 cm x 1 cm / 3.9 in.
Appendix D: SumoBot PCB Schematic · Page 67 Appendix D: SumoBot PCB Schematic
