E- MINISUMO

Minisumo: autonomous robots battle in an arena—engineering prowess and strategy!

Mechanics

  • The matches will take place between two teams, each team having one or more members. During the battles only one member may approach the ring, the other team members must watch the match from the public.
  • According to the rules, the teams will compete in a Dohyo (sumo ring) with an autonomous robot. The robot must be the E-minisumo robot from ERovoutika.
  • The referee designates the start of the match with the remote control, and it continues until one of the two robots get 2 points "Yuhkoh". The referee determines the winner of the match.

General Rules

  • 2.1 The Building of the Robot
  • The robot to be used bust the minisumo robot from ERovoutika except the EMinisumo v3 (open category). The team can build their own Eminisumo robot v3, and this is upon the approval of Erovoutika team.
  • Maximum dimensions: the robot must fit in a square 10cm x 10cm.
  • The maximum mass of the robot must not exceed 500g.
  • After the beginning of the round, the robot can expand. The robot is not allowed to separate into two or more pieces. It must remain in a simple centralized robot. Robots that do not follow these rules will be disqualified. Screws, nuts, washers, or other parts that weigh less than 5 grams that may fall will not result in losing the match.
  • All robots must be autonomous. Any control system can be implemented while it is inside the robot as long as it does not interact with external control systems (human, machine or another).
  • 2.2 Limitations of the robot
  • For safety reasons the robots must be equipped with a sensor module on/off (infrared) which will be operated by the judges. When the referee sends a stop signal, the supply of the engines has to be cut. The sensor will be used also to simultaneously power both robots by the referee. The specifications for the sensor on/off IR are in Appendix 1.
  • Jamming devices that can be used against opponents such as radiation sources to saturate IR sensors, ultrasonic transmitters or other devices with similar effect are strictly prohibited.
  • Components of the robot that can destroy the playing area are not allowed. Do not use components intended to destroy the opponent's robot. The thrusts and the normal blows specific for a sumo match are not considered intentions for destruction.
  • Devices that can store liquid, powder, gas, or other substances that could be thrown into the opposing robot are prohibited.
  • Any devices that throw flames are not allowed.
  • Any devices that throw objects towards the opponent are not allowed.
  • Sticky substances that can improve the traction are not allowed. The wheels and other components of the robot that are in contact with the floor shouldn't be able to raise and support a standard A4 sheet (80mg/m2) for more than 2 seconds. The robots will be checked in the homologation phase and it can be verified again at the request of the referee in any stage of the competition.
  • Devices for increasing pressure on the surface, such as vacuum pumps or magnets/electromagnets are allowed.
  • The blade of the robot and the expansion camot are white.
  • It is allowed to use a maximum of 2 flags on the robot. The flags must be upright and be within the perimeter of the robot. They may fall after the start of the match.
  • DOHYO (SUMO RING)
  • The inside of the ring
  • The inside of the ring is defined as the playing surrounded surface, but which includes the white line. Any area outside the ring will be called outside the ring.
  • The specification of the ring
  • The play area is defined as a disk with a thickness between 3 and 5 mm with black color, with a diameter not greater than 154cm.
  • The ring is placed on a metal support and it is lifted up to 5 cm above the ground.
  • Around the ring, there is a clearance space so that the sensors of the robots are not disturbed.
  • Dimension of the ring allows a tolerance of 5%.
  • The outside of the ring
  • There is a safe space outside the ring. This space can be any color, can be of any material and may have any shape. This zone with the ring in its center will be called the zone of the ring.
  • A match consists of three rounds, each lasting a maximum of 3 minutes with the possibility of extending the time by referees.
  • The first team that wins two rounds or receives the first two points "Yuhkoh" until the end of the time will win the match. A team receives one point "Yuhkoh" when they win a round. If the time limit is reached before a team receives two points "Yuhkoh" and one team receives a "Yuhkoh", the team with a point will win.
  • If the game is not won by any team within the time limit, an additional round will be played. After exhausting all alternatives, the winner of the match can be decided by arbitrators by lot or other criteria established by the arbitration panel.
  • If the robots crash they will be stopped after 2 seconds and the game will resume. If after the 2nd attempt, the robots crash again, it will be called equality.
  • If one of the two robots is not going to start, there will be a restart. If after a restart the same robot does not work the match will be won by the functional robot. (Participants are required to notify the referees at the start of the match if the robot has a sequence that does not start after the received signal, which should not be confused with a malfunction).
  • THE PROGRESS OF THE CONTEST
  • The robots will be divided into groups according to the number of participants. The contest will run in this system, groups / quarters / semifinals/ final to allow as many rounds of play for each robot separately. Each match goes in this system as the “best of three rounds” and will be supervised by two referees (one referee and one assistant referee), except the final round, where the game will be played in the format "the best of 5 rounds". The referee's decision must be unanimous and final, and contesting his decision brings the participants disqualification from the match.
  • Throughout the competition a team is allowed to have two interruptions for reprogramming during matches, 5 minutes each (2 outages throughout the contest). Other breaks are only allowed for mechanical problems and only with the referee’s approval, with 5 minutes each. This rule is only applied when performing a match. Outside the matches, the reprogramming and the changes are allowed. Teams are required to be at the starting point within a maximum 1 minute of receiving the request, otherwise, they will lose the match.
  • After approval, all teams remain in the competition hall. The teams can leave the room only for repairs. If a team leaves the room for repair, it must turn as specified by the referee. If the robot is not present at the first call, the team loses the match.
  • HOMOLOGATION
  • The homologation will take place at the beginning of the sample.
  • Each team will have to pass the homologation stage to participate with the robot in the contest.
  • Stages of the homologation process are:
  • Verification of the dimensions of the robot by placing a box/frame of 10 x 10 cm, bottomless, over the robot.
  • Weighing the robot on a digital scale. The maximum recorded weighing should be 500 grams.
  • Checking the operation of the IR sensor to start and stop the robot.
  • The robot will not be retained after homologation.
  • After homologation of all robots, the teams remain mandatory in the examination room / competition area.
  • THE SCORE
  • A "Yuhkoh" will be granted when:
  • The robot of a team forces the opponent to get out of the ring by pushing or lifting. The robot of the opponent is considered defeated if it touches any part or components, which is placed on the outer surface of the ring.
  • The robot opponent gets out of the ring for any reason.
  • The opponent robot breaks, without the possibility to continue the round and the team representative announces this.
  • When determining the winner falls to the referees after exhausting specific criteria Sumo competition, the following aspects are taken into account:
  • Quality of the construction and programming of the robot.
  • Penalty points accumulated during the match.
  • The attitude of the team during the match.
  • START, STOP, RESTART, END AND
  • DURATION OF MATCH
  • The start position of the robot.
  • At the Instructions of the referees, both teams are approaching the ring to put robots in the contest area. A cross with two opposing arrows placed in the middle divides the sumo ring into four quadrants. Robots must always be placed in two opposite quadrants. The robots must be placed at the edge of the assigned quadrant. Robots must cover at least partially the white edge. After positioning the robots and the cross is removed the robots can't be manually moved anymore.
  • Start
  • The start is given by the referee in each round using a remote control that sends a signal to the robot, where both of them will begin immediately without any delay. The details of the sensor can be found in the annex
  • Stop, Continue the match
  • The start, interruption, or continuation of the match is announced by the referee.
  • End of the game
  • When the referee announces the end of the game, the two teams raise their robots from the ring.
  • The duration
  • A match will be played over 3 minutes. It will start and end at the referee's command.
  • Extension
  • If an additional match is requested by the referee, it will take up to 3 minutes.
  • The game is stopped and the round is resumed in the moment when:
  • The robots revolve around each other, without visible progress for 10 seconds. Robots are stranded for more than 2 seconds. If it is not clear that the robot is progressing, the observation time can be extended up to 30 seconds.
  • The both robots are moving without making any progress, they stop (while) or they stay still for 10 seconds without touching themselves. However, if a robot stops moving, after 10 seconds it will be declared defeated without fighting initiative. In this case the opponent will receive a "Yuhkoh" even if he stopped. If both robots are moving, but progress is not clear, the referees may extend the observation time to 30 seconds.
  • Repairs, modifications, sudden interruption
  • If a robot is damaged during a match, the referee shall allocate an interval of 1 minute for repairs. This range may be extended up to 5 minutes by the organizers. An assistant referee will supervise repairs to avoid changes of unapproved other robot modules.
  • Suppose a robot can't be repaired within the specified interval. In that case, the match is won by the opponent robot, and the team with the broken robot can continue the repairs until their next match and they will be supervised by a referee or a member of the organizing committee.
  • Replacing the defective parts can be performed, and the batteries can be charged during the competition if it's necessary.
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