Newsgroups: comp.robotics
Path: brunix!uunet!europa.asd.contel.com!darwin.sura.net!convex!convex!hattori
From: hattori@convex.com (Mato Hattori)
Subject: The Robot Sumou Tournament, in Japan.
Message-ID: <hattori.702167019@convex.convex.com>
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Organization: Engineering, CONVEX Computer Corp., Richardson, Tx., USA
Date: Wed, 1 Apr 1992 22:23:39 GMT
X-Disclaimer: This message was written by a user at CONVEX Computer
              Corp. The opinions expressed are those of the user and
              not necessarily those of CONVEX.
Lines: 124


Hi! I'm from Japan to work with Convex Computer in Dallas, Texas.
I would like to introduce my own robot projects aiming at the Robots
Sumou Tournament that have been held once in a year in Tokyo, Japan.

But, I'm afraid that my bad English might confuse you.  Please don't
hesitate to send questions to me. 


At first, I'd like to describe the Sumou.  It's Japanese traditional
sports.  Two guys, generally they grow very fat and they are almost
naked, fight against each other in the entire circle called Dohyou.
The winner of the game is either guy who hadn't touched ground on his
hand and hadn't stepped out from the circle before the other guy did.

There is the Robot Sumou Tournament in Japan, that is held in December
every year in Tokyo.  The rule of the Tournament is same as the real
Sumou except two robots will fight rather than naked guys.

As you can easily guess, the task of the game is quite simple, pushing
away a opponent out of the circle!!


The regurations of robots are as follows:

1. The area of the base cannot exceed 20cmX20cm before game starts,
   means it is free in hight and can spread after game starts.
2. The weight cannot exceed 3kg.
3. Use of internal/external combustion engine is prohibited.
4. Intention to harm the opponent or the Dohyou (playground which
   includes the circle) is excessive.
5. The way of control is free, but divided into 2 categories.


The 2 categories due to the way of control are the Radio Controled and
the Stand Alone.  The Radio Controled category can use ordinary mer-
chandised RC equipments to be controled by a man. The Stand Alone cat-
egory cannot be controled externally by men except pushing some start
buttons in the time of beginning.

In order to avoid interference with the man who set the robot on the
Dohyou, the Stand Alone category has a special rule which says that
the game will starts exactry 5 seconds after the judgeman signals
beginning.  It means that the man will push a start button (or some-
thing else) of the robot as same time as the judgeman's signal, the
robot must keep his starting position for 5 seconds, and the man who
pushes the button must leave the Dohyou in that time.  Therefore, the
robot of the Stand Alone category must have at least a start button
and a way to know passage of 5 seconds.


The Tournament would make progress with 3 games match of a pre-random-
ized couple of robots.  150, in the Radio Controled category, and 190,
in the Stand Alone category, of robots gathered last year.  If you
beaten 6 or 7 opponents, you would win the first prize of 1,000,000Yen
or 7,700U.S.Dollars.  The second prize is 500,000Yen or 3,850U.S.Dol-
lars.


I took part in the last Tournament last year with my own hand-built
robot, named "BigTX".  Unfortunately, he lost to his first opponent.
Please don't let me talk much about this result. :-)


My "BigTX" is the Stand Alone type.  Its features are as follows:

1. CPU, Intel 8052AH, 12MHz clock, ROM with MCS52 BASIC interpreter.
2. RS232C serial communication capability to up/down load the program 
   from/to PC.
3. PIO, 8255A-2, 3X8bits I/O port.
4. 32KB RAM and 8KB EEPROM for user control programs.
5. 2X DC Mortor, 3000rpm at torque of 750g-cm, drive wheels, 3cm in
   diameter and 4cm in tread, each side through 1/10 speed-down gear.
6. 2X Ultrasonic sensors detect motion of the opponent in range of 3cm
   to 1m.
7. 8X Infrared sensors detect the edge of the circle.
8. Knife-edge in front scoop up and push away the opponent.


According to my experience last year, I believe following improvements
must be done in next robot, that has already named as "BigTX2":

1. The Dohyou is small as compared with robot, actually its diameter
   is 154cm, and one game would finish in seconds.  It means that
   initial movement is the most important.  Timelag between the time
   when the judgeman signals beginning and when I push the start but-
   ton of the robot cannot be neglectful.  Therefore, both a clock to
   measure 5 seconds and a sensor to detect initial movement of the
   opponent are necessary.  "BigTX" has only a clock, though it has
   motion sensors.  I didn't program it as start signal. :-<

2. "BigTX" was not enough powerfull, actually it had been pushed away
   by the opponent's frontal attack.  I need more torque and more
   speed.  There are 3 parameters which determine the power of the
   robot; spec of motor, gear-down ratio, and diameter of wheel.  I
   have to estimate the best parameters to have the most powerfull
   robot.  ( I suppose that you know the equation,  power = 
   torque * revolution )

3. Attacking the opponent in flank, not in front, is effective.  I
   have to research the dynamic path-findings.  Measuring direction
   which the opponent move to, calcurating way to reach flank of the
   opponent, and turning toward that direction, have to be done in 
   every milliseconds during the game.  Is it possible???



Well, how did you feel?  I suppose that the Sumou game is too simple
to interest you, but it's so simple that excite me.  Indeed, I still
wonder why my dear robot, "BigTX", lost to the first match?  I have
made my mind I would never give up until I win the first prize.



Please give me your comments, suggestions, and questions if you have.


Thanks.
---
--
Mato Hattori
Convex Computer, U.S.A.   / NKK Corporation, Japan
email: hattori@convex.com / hattori@csrd.nkk.co.jp
voice: 1+214-497-4304     / 81+44-322-6277
