A ping pong table (a table tennis table) is used for the official match. The size and color of the table is officially determined as the international standard for ping pong. It is 152.5cm by 274cm, and color is green. Details shall be given in the figure.
Four small panels are attached to the corner to avoid ball to stuck.
As shown in the figure below, it should be located 3 cm from the corner for each
axis. Green strips of width 1cm shall be painted to identify the edge of the panel.
For details of the Table Tennis, please refer to International Table Tennis Federation, Regulations. The regulation of the table hight do not apply. We will provide appropriate hight for RoboCup, so that global vision can be used easily.
The maximum diameter of a circular robot shall be 15cm, while the maximum length of a rectangular robot shall be 18cm with a with a width of 10cm. These provide for the same size of robot in terms of surface area. This is approximately 1/10 of the length of the shorter end of the field.
A team should consists of no more than 5 robots.
The width of the goal is 50 cm, which is approximately 1/3 of the length of the shorter end of the field. Behind the goal is a safety net (white) and a safety zone (green). This prevents robots from falling down from the goal post.
Orange golf ball shall be used.
Colors of each part of the field are as follows:
- Field shall be dark green. Since ITTF's color regulation is flexible, there may be slight difference in the color of the table. The designer of the robot shall take this fact in consideration.
- Wall shall be white.
- Ball shall be orange.
- Lines are drawn in white.
- Some markers on corners and goals are in green.
The games consits of the first half, break, and the second half. Each of them is 10 minutes.
A wall which is the same height as the golf ball shall be placed all around the field, except in goals. The wall shall be painted in white.
Defense zone will be created in surrounding the goal of each side. It is 22.5 cm from the goal line, and width of 100 cm. The boarder of the defense zone will be painted in white, with the width of 1cm. Only one defense robot can enter this area. A brief passing and accidental entry of other robots are permitted, but intensional entry and stay is prohibited.
Each robot should put at least one colored ping pong ball on top of their body, approximately between 15 cm to 20 cm in height. Teams may, at their discretion, use two pingpong balls (of differing colours) per robot to determine the orientation of the robot as well as its postion. The color(s) of the ping pong ball(s) will be used to identify friend and enemy, as well as positions using the global vision system. The ping pong ball shall be located near the center of the robot.
Robot can use wireless communication to computers and network located outside of the field. The method of wireless communication, power, and frequency shall be notified at the time of registration. Any change after the registration shall be notified to the tounarment committee as soon as possible. In order to avoid interferance, a team should be able to select two carrior frequencies before the match. The type of the wireless communication shall follow legal regulations of the country where the tournarment is held.
The use of global vision system is permitted, not required, to identify and track the position of robots and balls. The use of the global vision system shall be notified at the time of register (April 1, for RoboCup-97), and detailed arrangements shall be discussed with the RoboCup-97 committee.
Separetely defined strength of lighting will be provided. However, because of extensive media coverage, additional lights many be imposed. Robots shall be roboust enough against lighting change.
Goal keeper can hold and manipulate a ball for up to 10 seconds within its penalty area. After releasing the ball, the keeper must not hold the ball until it touches any opponent, or an alley outside the penalty area. If the ball released by the keeper reaches the other half end of the court without touching any other player, the opponent is given an indirect free kick positioned anywhere along the half way line (borrowed from Futsal rule).
- Kick-off
All robots shall be in located in their side of the field. Only one robot, which kick the ball, shall be in the center circle. - Penalty Kick
Only a goal keeper shall be in the defense zone, and the ball shall be located at the specified position. All other robots shall be located at least 15 cm behind the robot which kicks the ball. Robots other than the goal keeper and the kicker cannot move until the kicker kicks the ball. - Free Kick to be defined.
- Restart after the goal
The restart after the goal shall adopt the same formation as the kick-off. - Throw-in
When the ball fell-off from the wall, the ball will be returned immidiately to the field, and located approximately 5cm inside of the wall, where the ball fell-off. No other robot shall enter 15 cm from the ball. A robot of the team, which did not fell-off the ball, will be located in front of the ball. During this period, the robot can continue to move, and the time counting continues.
Following fouls are defined:
- Multiple Defense
When more than one defense robots enter the defense zone to substantially affects the game. The foul will be called, and the penalty kick will be declared. - Ball Holding
A player cannot 'hold' a ball unless it is a goal keeper in its penalty area. Holding a ball means taking a full control of the ball by removing its entire degrees of freedom; typically, fixing a ball to the body or surrounding a ball using the body to prevent accesses by others. A free kick will be decleared. If this happens in the defense zone by the denfense team, a penalty kick will be declared. - Court Modification
Modification or damage to the court and the ball is forbidden. Should this occur, the game is suspended and the appropriate restoration is done immediately before the game resumes. - Robot Halting
All the players must be halted prior to kick-off or restarting of the game. The judges check or adjust the placements of the players and declares the completion of adjustment by 5 seconds before cueing a kick-off or a restart action. During this 5 seconds, the players can move. - Offside
Offside rule is not adopted.
- Unless during striving for a ball, a player must not attack another. In case the umpire clearly observes such an act, it is regarded as a violent action. Then the umpire presents a red card to the responsible player ordering it to leave the game. The judgment is done based on an external appearance.
- Throughout the game, if a player utilizes a device or an action which continuously exerts, or whose primal purpose appears to be, serious damages to other robot's functions, the umpire can present a yellow card as a warning to the responsible player, and order it to go outside the court and correct the problem. Once the correction is made, the robot can resume to the game under an approval by the umpire. In case the problem is repeated, the umpire presents a red card to the responsible player telling it to leave the game.
Resolution of dispute and interpretation of ambiguity of rules shall be made by three officials, who will act as umpires, designated prior to the match. The umpires shall not have any conflict of interest to teams in the match. The umpires may consult with the tounarment officials of the RoboCup for resolving conflicts. Ambiguities shall be resolved by referring to FIFA official regulations, where appropriate.
Revision of the regulation will be made in the following procedure:
- Proposal
Anyone may propose, or request, revision of the rule. The proposal shall be directed to the RoboCup committee. The proposal shall state reasons, needs, or merits of the proposed revision. - Review
The RoboCup committee will review each proposal and request, and decide whether the proposed revision shall be made. - Draft
When the proposed revision is concluded to be necessary, the RoboCup committee will discuss with the proposer of the revision to create the draft of the revision. - Open Hearing
The draft will be announced through the mailing-list as well as the web home page. After two weeks of open hearing period, the revision will be incorporated into the official rule. When opposition and suggestion is made during this period, a new draft will be created reflecting these comments. A new draft will be announced and offered for an open hearing.
