UnifiedSumoRobotRules

NameofEvent:Sumo

RobotsperEvent:Two
LengthofEvent:3minutes
RobotWeightRange:AsBelow
RobotDimensions:AsBelow
ArenaSpecifications:AsBelow
RobotControl:AutonomousandRemotecontrol
EngineeringPrinciples:Torque,mechanicalengineering,electrical
engineering,computerscience(forautonmous
classes.)
EventSummary:Tworobotscompeteinaheadtoheadmatch
followingthebasicsystemoftraditionalhuman
sumomatches.Robotsareallowedno
weapons,andarenotallowedtoflipeachother.
Thesolepurposeisapushingmatchbetween
thetworobotstoforcetheotherfromthearena.
Multipleweightclassesandcontrolsystemsare
allowed(autonomouscompeteagainst
autonomousandR/CagainstR/Ctheyare
separateclassesanddonotcompeteagainst
eachother.)

...

Section1:DefinitionoftheSumoMatch
Article1[Definition]Amatchisfoughtbetweentwoteams,eachteamhavingoneormorecontestants.Onlyoneteam
membermayapproachtheringotherteammembersmustwatchfromtheaudience.Inaccordancewiththegame
rules(hereafterreferredtoas"theserules",)eachteamcompetesonaDohyo(sumoring)witharobotthattheyhave
constructedthemselvestothespecificationsinSection3.Thematchstartsatthejudge'scommandandcontinuous
untilacontestantearnstwoYuhkohpoints.Thejudgedeterminesthewinnerofthematch.
Section2:RequirementsfortheDohyo(SumoRing)
Article2[DohyoInterior]Thedohyointeriorisdefinedastheplayingsurface
surroundedbyandincludingtheborderline.Anywhereoutsidethisareaiscalledthe
dohyoexterior.
Article3[DohyoSpecifications]
1.Theringshallbecircularinshapeandoftheappropriatedimensionsforthegiven
sizeclass.
2.Shikirilines(startinglines)consistoftwopaintedparallelbrown(orequivalentfor
absorptionofIRlight)linescenteredintheringwithappropriatewidthandspacingfor
thegivenclass.Theseparationdistancebetweenthelinesismeasuredtotheir
outsideedges.
3.Theborderlineismarkedasawhitecircularringofawidthappropriateforthe
givenclassontheouteredgeoftheplayingsurface.Theringareaextendstotheoutsideedgeofthiscircularline.
DohyoConstruction&Painting
ShikiriLines
Border
Class
Height Diameter Material
Width Length Separation Width
Mega/Humanoid 5.00cm 154.0cm Polyurethanecoatedsteelplate
2cm 20cm
20cm
5cm
Mini/Lego
2.50cm
77.0cm Laminate/Melaminecoatedwood
1cm 10cm
10cm
2.5cm
Micro
1.25cm
38.5cm Melaminecomposite
0.5cm
5cm
5cm 1.25cm
Nano
0.625cm 19.25cm Melaminecomposite
0.25cm 2.5cm
2.5cm 0.625cm
Article4[DohyoExterior]Thereshouldbeaspaceappropriateforthegivenclassoutsidetheouteredgeofthering.
Thisspacecanbeofanycolor,andcanbeofanymaterialorshapeaslongasthebasicconceptsoftheserulesare
notviolated.Thisarea,withtheringinthemiddle,istobecalledthe"ringarea".Anymarkingsorpartsofthering
platformoutsidetheminimumdimensionswillalsobeconsideredintheringarea.
Section3:RequirementsforRobots
Article5[RobotSpecifications]
1.Arobotmustfitwithinasquaretubeoftheappropriatedimensionsforthegivenclass.Arobotmayexpandinsize
afteramatchbegins,butmustnotphysicallyseparateintopieces,andmustremainasinglecentralizedrobot.Robots

violatingtheserestrictionsshalllosethematch.Screws,nuts,andotherrobotpartswithatotalmassoflessthan5
gramsfallingofffromarobot'sbodyshallnotcausethelossofmatch.
2.Thetotalmassofarobotatthestartofamatchmustbeunderthedesignatedweightforthegivenclass.
Class
Height
Width Length Weight
MegaSumoAuton
unlimited 20.0cm 20.0cm 3,000g
MegaSumoR/C
unlimited 20.0cm 20.0cm 3,000g
MegaSumoNetwork unlimited 20.0cm 20.0cm 3,000g
HumanoidR/C
50cm 20.0cm 20.0cm 3,000g
LegoSumo
unlimited 15.0cm 15.0cm 1,000g
MiniSumo
unlimited 10.0cm 10.0cm
500g
MicroSumo
5cm 5.0cm 5.0cm
100g
NanoSumo
2.5cm 2.5cm 2.5cm
25g
3.Autonomousclasses:Nano(25g),Micro(100g),Mini(500g),Lego(1kg),andMega(3kg)robotsmustbe
autonomous.Anymethodofcontrolmaybeused,aslongasitisfullycontainedwithintherobotandrecievesno
externalsignalsordirections(human,machine,orotherwise).Autonomousrobotoperationmustbeginautomatically
nolessthanfivesecondsafterbeingstartedbytheuser.RobotsstartingbeforethefivesecondmarkforfeitthatYuhkoh
point.
4.Remotecontrolledclasses:3kgR/CandHumanoidclassrobotscanberemotelycontrolledinaccordancetoFCC
regulations,andregulatedbytournamentofficials.75Mhzcontrollersarespecificallyprohibited.Allremotecontrols
mustbedigitallymatedpairs.Remotecontrolrobotsstartonasignalfromthetournamentofficial.Noaugmented
autonomouscontrolsareallowedontherobot.Allrobotmotionmustbedirectlyduetotheteleoperationofthe
operator.
5.Networkclass:3kgnetworkcontrolledrobotsmustbecontrolledviaWiFicommunicationfromtheoperators
computer,viaanintermediaryrouter.Directconnectionstoandfromtherobotbytheoperator'scontroller/computerare
preventedbythenetworkconfigurationandnotallowed.Boththeoperatorandtherobotwillhaveopenconnectionsto
theinternet.TheeventwillprovidetwoWPA2PSKsecuredrouters,oneforthecontrollerandonefortherobot,with
publiclyaddressableIPaddresses.ProbableroutermodelwillbeLinksysWRT54GL.Participantsshouldpractice
controlthroughmultipleroutersbothpriortoandonarrivaltotheevent.Noaugmentedautonomouscontrolsare
allowedontherobot.Allrobotmotionmustbedirectlyduetotheteleoperationoftheoperator.
6.Therobotmusthaveanameornumberforregistrationpurposes.Displaythisnameornumberonyourrobotto
allowspectatorsandofficialstoidentifyyourrobot.
Article6[RobotRestrictions]
1.Jammingdevices,suchasIRLEDsintendedtosaturatetheopponentsIRsensors,arenotallowed.
2.Partsthatcouldbreakordamagetheringarenotallowed.Donotusepartsthatareintendedtodamagethe
opponentsrobotorit'soperator.Normalpushesandbangsarenotconsideredintenttodamage.
3.Devicesthatcanstoreliquid,powder,gasorothersubstancesforthrowingattheopponentarenotallowed.
4.Anyflamingdevicesarenotallowed.
5.Devicesthatthrowthingsatyouropponentarenotallowed.
6.Stickysubstancestoimprovetractionarenotallowed.Tiresandothercomponentsoftherobotincontactwiththe
ringmustnotbeabletopickupandholdastandard3"x5"indexcardformorethantwoseconds.
7.Devicestoincreasedownforce,suchasavacuumpumpormagnets,areonlyallowedinthe3kgclass.Theyare
notallowedinallotherclasses.
8.Alledges,includingbutnotlimitedtothefrontscoop,mustnotbesharpenoughtoscratchordamagethering,other
robots,orplayers.Ingeneral,edgeswitharadiusofgreaterthan.005",aswouldbeobtainedwithaunsharpened
.010"thickmetalstrip,shouldbeok.Judgesorcompetitionofficialsmayrequireedgesthattheydeemtoosharptobe
coveredwithapieceoftape.
Section4:HowtoCarrySumoMatches
Article7[HowtoCarrySumoMatches]
1.Onematchshallconsistof3rounds,withinatotaltimeof3minutes,unlessextendedbythejudges.
2.Theteamwhowinstworoundsorreceivestwo"Yuhkoh"pointsfirst,withinthetimelimit,shallwinthematch.Ateam
receivesa"Yuhkoh"pointwhentheywinaround.Ifthetimelimitisreachedbeforeoneteamcangettwo"Yuhkoh"
points,andoneoftheteamshasreceivedoneYuhkohpoint,theteamwithoneYuhkohpointshallwin.

3.Whenthematchisnotwonbyeitherteamwithinthetimelimit,anextendedmatchmaybefought,duringwhichthe
teamwhoreceivesthefirstYuhkohpointshallwin.Alternatively,thewinner/loserofthematchmaybedecidedby
judges,bymeansoflots,orbyarematch.
4.OneYuhkohpointshallbegiventothewinnerwhenthejudges'decisionwascalledfororlotswereemployed.
Section5:Start,Stop,Resume,EndaMatch
Article8[Start]Uponthejudge'sinstructions,thetwoteamsbowtoeachotherintheouterring,approachthering,and
placearobotwithintheirhalfoftheringonorbehindtheShikiriline.(Arobotorapartofarobotmaynotbeplaced
beyondthefrontedgeoftheShikirilinetowardtheopponent.Notethatisnotrequiredthatarobotbeplaceddirectly
behindtheShikirilineitmaybeoffsettotheside,aslongasitisbehindanimaginarylinecollinearwiththeShikiri
line.)Whenthejudgeannouncesthestartoftheround,theteamsstarttheirrobots,andafterafivesecondpausethe
robotsmaystartoperating.Duringthesefiveseconds,playersmustclearoutoftheringarea.
Article9[Stop,Resume]Thematchstopsandresumeswhenajudgeannouncesso.
Article10[End]Thematchendswhenthechiefjudgeannouncesso.Thetwoteamsretrievetherobotsfromthering
area,andbow.
Section6:TimeofMatch
Article11[TimeofMatch]OneMatchwillbefoughtforatotalof3minutes,startingandendinguponthejudge's
command.Theclockshallstarttickingfivesecondsafterthestartisannounced
Article12Anextendedmatch,ifcalledforbythejudge,shalllastforamaximumof3minutes.
Article13ThefollowingarenotincludedinthetimeoftheMatch:
1.ThetimeelapsedafterthejudgeannouncesYuhkohandbeforethematchresumes.Thestandarddelaybeforethe
matchresumesshallbe30seconds.
2.Thetimeelapsedafterajudgeannouncestostopthematchandbeforethematchresumes.
Section7:Yuhkoh
Article14[Yuhkoh]OneYuhkohpointshallbegivenwhen:
1.Ateamlegallyforcesthebodyoftheopposingrobottotouchthespaceoutsidethering,whichincludesthesideof
theringitsself.
2.AYuhkohpointisalsogiveninthefollowingcases:
A.Theopposingrobothastouchedthespaceoutsidetheringonitsown.
B.EitheroftheabovetakesplaceatthesametimethattheendoftheMatchisannounced.
C.Inthecaseofhumanoidsumo,anypartoftheopposingrobototherthanthebottomsofitsfeet(hands,knees,
back,chest,etc.)touchesthedohyoorwhenitispushedorthrownoutsideofthering.
3.Whenawheeledrobothasfallenoverontheringorinsimilarconditions,Yuhkohwillnotbecountedandthematch
continues.
4.Whenjudges'decisioniscalledfortodecidethewinner,thefollowingpointswillbetakenintoconsiderations:
A.Technicalmeritsinmovementandoperationofarobot
B.Penaltypointsduringthematch
C.Attitudeoftheplayersduringthematch
5.Thematchshallbestoppedandarematchstartedunderthefollowingconditions:
A.Therobotsareentangledororbitingeachotherwithnoperceivableprogressforfiveseconds.Ifitisunclear
whetherprogressisbeingmadeornot,thejudgecanextendthetimelimitforobservableprogressforupto30
seconds.
B.Bothrobotsmove,withoutmakingprogress,orstop(attheexactsametime)andstaystoppedforfiveseconds
withouttouchingeachother.However,ifonerobotstopsit'smovementfirst,afterfivesecondsitwillbedeclared
asnothavingthewilltofight.InthiscasetheopponentshallreceiveaYuhkoh,eveniftheopponentalsostops.
Ifbothrobotsaremovinganditisn'tclearifprogressisbeingmadeornot,thejudgecanextendthetimelimitup
to30seconds.
C.Ifbothrobotstouchtheoutsideoftheringataboutthesametime,anditcannotbedeterminedwhichtouched
first,arematchiscalled.
Section8:Violations

Article15[Violations]PlayersperforminganyofthedeedsdescribedinArticles6,16,or17,shallbedeclaredin
violationoftheserules.
Article16[Insults]Aplayerwhouttersinsultingwordstotheopponentortothejudgesorputsvoicedevicesinarobot
toutterinsultingwordsorwritesinsultingwordsonthebodyofarobot,orperformsanyinsultingaction,isinviolationof
theserules.
Article17[MinorViolations]Aminorviolationisdeclaredifaplayer:
1.Entersintotheringduringthematch,exceptwhentheplayerdoessototaketherobotoutoftheringuponthe
judge'sannouncementofYuhkohorstoppingthematch.Toenterintotheringmeans:
A.Apartoftheplayer'sbodyisinthering,or
B.Aplayerputsanymechanicalkitsintotheringtosupporthis/herbody.
2.Performsthefollowingdeeds:
A.Demandtostopthematchwithoutappropriatereasons.
B.Takemorethan30secondsbeforeresumingthematch,unlessthejudgeannouncesatimeextension.
C.Startoperatingtherobotwithinfivesecondsafterthechiefjudgeannouncesthestartofthematch.
D.Doesorsaysthatwhichdisgracesthefairnessofthematch.
Section9:Penalties
Article18[Penalties]PlayerswhoviolatetheserulesbyperformingthedeedsdescribedinArticles6and16shalllose
thematch.ThejudgeshallgivetwoYuhkohpointstotheopponentandordertheviolatortoclearout.Theviolatoris
nothonoredwithanyrights.
Article19EachoccasionoftheviolationsdescribedinArticle17shallbeaccumulated.Twooftheseviolationsshall
giveoneYuhkohtotheopponent.
Article20TheviolationsdescribedinArticle17shallbeaccumulatedthroughoutonematch.
Section10:InjuriesandAccidentsduringtheMatch
Article21[RequesttoStoptheMatch]Aplayercanrequesttostopthegamewhenhe/sheisinjuredorhis/herrobot
hadanaccidentandthegamecannotcontinue.
Article22[UnabletoContinuetheMatch]Whenthegamecannotcontinueduetoplayer'sinjuryorrobot'saccident,
theplayerwhoisthecauseofsuchinjuryoraccidentlosesthematch.Whenitisnotclearwhichteamissuchacause,
theplayerwhocannotcontinuethegame,orwhorequeststostopthegame,shallbedeclaredastheloser.
Article23[TimeRequiredtoHandleInjury/Accident]Whetherthegameshouldcontinueincaseofinjuryoraccident
shallbedecidedbythejudgesandtheCommitteemembers.Thedecisionprocessshalltakenolongerthanfive
minutes.
Article24[YuhkohGiventothePlayerwhoCannotContinue]ThewinnerdecidedbasedonArticle22shallgaintwo
Yuhkohpoints.TheloserwhoalreadygainedoneYuhkohpointisrecordedassuch.WhenthesituationunderArticle
22takesplaceduringanextendedmatch,thewinnershallgainoneYuhkohpoint.
Section11:DeclaringObjections
Article25[DeclaringObjections]Noobjectionsshallbedeclaredagainstthejudges'decisions.
Article26TheleadpersonofateamcanpresentobjectionstotheCommittee,beforethematchisover,ifthereare
anydoubtsintheexercisingoftheserules.IftherearenoCommitteememberspresent,theobjectioncanbepresented
tothejudgebeforethematchisover.
Section12:RequirementsforIdentificationsforRobots
Article27[IdentificationsforRobots]Sometypeofnameornumber,toidentifytherobot(asregisteredinthecontest)
mustbeeasilyreadableontherobot'sbody,whiletherobotisincompetition.
Section13:Miscellaneous
Article28[FlexibilityofRules]Aslongastheconceptandfundamentalsoftherulesareobserved,theserulesshallbe
flexibleenoughtoencompassthechangesinthenumberofplayersandofthecontentsofmatches.