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Modelling RoboCup Soccer
Modelling RoboCup Soccer
Soccer field dimensions are 105 m long and 68 m wide. A soccer player
fits in a Ø 80.66 cm circle while running and Ø 68.32 cm while standing. We
are trying to fit the player in a circle because our robots are in
cylinderical shape.
A human reaches fully grown size at the age of 25. Human body is full
things. A human body can be devided into 8 pieces and every piece has the
length of the head. The picture below shows the different ratios of a human
from new born baby to the age of 25.
So the first thing to do is to find out the average height and age of
soccer players. We didn' t want to just check the players of a specific
league or just one team. The best players of a country play in their
national teams and the best national teams play in the FIFA World Cup. The
table below shows us the average height and age of the teams in FIFA World Cup 2010.
which is just above 25. Although there are very young players H18L and
The average age of the soccer players in FIFA World Cup 2010 is 26.975
older players H39L played, they aren' t many in numbers. Since we are making an
estimation here, the average age is acceptable for us.
2 Modelling RoboCup Soccer.nb
A soccer player doesn' t run like a sprinter. Sprinters body become more parallel
to the ground, but that is an explosive run. Soccer players, they do sprint but not
like a sprinter. We can ' t take a jogger as a model as well, because soccer players
run a little more faster than a jogger.
The way a human runs differ from one to another. The difference basicly comes
from the height. The height of a human direclty effects the difference between the
feet while running. The pictures below shows different types of running styles.
Modelling RoboCup Soccer.nb 3
After a talk with a painter, we learnt that to keep the balance while running
the foot on the very back is 1.5 times the length of the head. The projection
to the ground of a running man is as wide as the width of the shoulders
and long as the 2.5 times the length of head.
picture shown below; there is a circle and 1 ê 3 of another circle with the same
The face of a fully grown man is basically made up circles. The last figure in the
radius added to the other circle. That is the longest part of a human head.
Since we found out that the average height of the FIFA World Cup 2010 is 181 cm. We
need to determine the shoulder width of a man with that height, and the distance
between the feet while runnning. After checking with anathomy books we figure out
that the shoulder width is 51 cm for 181 cm man. Approximately 25 cm is the length
of the head.
Length of Head = 25 cm
= 2.5 * H25L
A standing players projection to the ground has 1.5 times the feet and width of
shoulders in dimensions. In criminalogy the height and foot size ratio is a
critical factor while determining the criminals. Researches shown that the
realation between the height and foot size is in between 13.9 % to 16.7 % of the
height. Since the atheletes are at the limits of their bodies taking 16.7 % will be a
more accurate estimation.
16.7
Length of Feet = 181.53 *
100
Length of Feet = 30.316 cm
AreaQPlayerRunning U = p * r2
= p * H40.33L2
1m 1m
AreaQPlayerRunning U = 5109.83 cm2 * * = 0.5110 m2
100 cm 100 cm
AreaQPlayerStandingU = p * r2
= p * H34.16L2
1m 1m
AreaQPlayerStandingU = 3665.94 cm2 * * = 0.3666 m2
100 cm 100 cm
6 Modelling RoboCup Soccer.nb
Not all of the soccer players run at the same. We can devide a soccer game into two;
attacking and defending. When the team is attacking the goalkeeper and at least 3 of
the defenders stay. When the team is defending, again the goalkeeper and 3 of the
attackers stay. So while calculating the total area covered by a team, we have to
pick 4 of the players from AreaQPlayerStandingU and the rest 7 from AreaQPlayerRunning U .
AreaPTeam1 T = 4 * AreaQPlayerStandingU
= 4 * H0.3666L
AreaPTeam1 T = 1.4664 m2
AreaPTeam2 T = 7 * AreaQPlayerRunning U
= 7 * H0.5110L
AreaPTeam2 T = 3.5770 m2
AreaPTeamT = 5.0434 m2
AreaPTeamsT = 2 * AreaPTeamT
AreaPTeamsT = 2 * H5.0434L
AreaPTeamsT = 10.0868 m2
AreaPSoccer FieldT = *
= H105L * H68L
AreaQPlayerRunning U
AreaPCoveredT % = * 100
AreaPSoccer FieldT
0.5110
AreaPCoveredT % = * 100
7140
AreaPCoveredT % = 0.0072 %
Modelling RoboCup Soccer.nb 7
AreaQPlayerStandingU
AreaPCoveredT % = * 100
AreaPSoccer FieldT
0.3666
AreaPCoveredT % = * 100
7140
AreaPCoveredT % = 0.0051 %
AreaPTeamT
AreaPCoveredT % = * 100
AreaPSoccer FieldT
5.0398
AreaPCoveredT % = * 100
7140
AreaPCoveredT % = 0.0706 %
AreaPTeamsT
AreaPCoveredT % = * 100
AreaPSoccer FieldT
10.0868
AreaPCoveredT % = * 100
7140
AreaPCoveredT % = 0.1413 %
Refree is also on the field and keeps running all the time like a
running player so while calculating, we have to add that to our calculations.
AreaQPlayerRunning U = AreaPRefreeT
AreaPRefreeT = 0.5110
AreaPCoveredT % = 99.8516 %
8 Modelling RoboCup Soccer.nb
The RoboCup soccer field is 6050 mm long and 4050 mm wide. The robots
must have Ø 180 mm according to the RoboCup F180 Rules.
AreaPPlayerT = p * r2
2
180
= p*
2
AreaPPlayerT = 25 446.9 mm2
AreaPTeamT = 11 * AreaPPlayerT
AreaPTeamsT = 2 * AreaPTeamT
AreaPSoccer FieldT = *
= H6050L * H4050L
AreaPPlayerT
AreaPCoveredT % = * 100
AreaPSoccer FieldT
25 446.9
= * 100
24 502 500
AreaPCoveredT % = 0.1039 %
AreaPTeamT
AreaPCoveredT % = * 100
AreaPSoccer FieldT
279 916
= * 100
24 502 500
AreaPCoveredT % = 1.1424 %
Modelling RoboCup Soccer.nb 9
AreaPTeamsT
AreaPCoveredT % = * 100
AreaPSoccer FieldT
559 832
= * 100
24 502 500
AreaPCoveredT % = 2.2848 %
AreaPEmptyT % = 97.7152 %
H0.5110L * + H0.3666L *
7 4
= 0.4583
11 11
0.4583
AreaPCoveredT % = * 100
7140
AreaPCoveredT % = 0.0064 %