Robot Soccer Rules

1. Game Description

This is a robot game that mimics human soccer. Participant will control humanoid robots to score more
goals in opponent’s net. Understanding of humanoid’s mechanics and strategy is important and
cooperation with teammates is required.

2. Robot Rule

2-1. Type of robot

Articulated two-legged walking robot (humanoid)

2-2. Construction
2-2-1. Pre-built
2-2-1-1. All robots are pre-built and spare robots are allowed.
2-2-1-2. Both main and spare robots should be confirmed by referee before match.
2-2-1-3. It is not allowed to switch robots during match. Switch is allowed before match.
2-2-2-1. Size should be measured while standing straight and should be less than 20 cm. If
all joints including ankle and both arms are straightened, size should be less than 30 cm.
2-2-2-2. To conserve space for ball to get into goal net while robot is lying down, robot’s
size should be less than 36 cm wide if robot spread both arms and both legs.
2-2-2-3. If it is difficult to differentiate robot’s upper body, then check maximum width and
height of robot while all joints are relaxed.

2-2-3. Except controller, weight of robot should be less than 700g including battery.
2-2-4. Sensor: No restriction

2-3. Power source

2-3-1. Robots should work with an independent electric power supply; it cannot use a combustible
device.
2-3-2. There are no limitations on type of battery or voltage level.

2-4. Operation: Should be two-legged walking robot without linking structure.

2-4-1. If robot falls during walking, it should wake-up by itself. If robot cannot wake-up and walk by
itself, the robot is not allowed to progress and only points earned before falling are accepted. Opponent
robot may progress the match.
2-4-2. While standing, both feet should not cross.

2-5. Programming and control

Both programmed robot and remote-controlled robot are allowed.

2-6-1. The robot must ware team patch (3cm X 3cm, any material) to identify the team
 Robot Soccer Rules

2-6-2. Each team must prepare both orange and blue patches for the game and the patches must
be stick on and take off easily

2-7. If robot falls, robot should stand by itself.

2-8. Control
2-8-1. Both programmed robot and remote-controlled robot are allowed.
2-8-2. Remote controller (Zigbee, Bluetooth, 2.4 GHz wireless communication, smartphone, etc.)
can be used, but cable-based controller cannot be used.
2-8-3. Robot should not move while in ready position without participant’s control

3. Playfield rule

3-1. Playing field

3-1-1. Structure
3-1-1-1. Size
One block with 210cm x 120cm (±10%) size
3-1-1-2. There’s outer wall to prevent ball from falling down
3-1-1-3. 4 corners of playfield have inclination to help ball to escape
3-1-1-4. Playfield may be inclined less than 2 degrees, and may have height or gap less
than 0.3cm (±10%)

3-1-2. Floor
Floor is made of formex. Color is white, and sheet may be added for IROC logo or advertisement.
3-1-2-1. Sheet or tape can be placed to remove gap of floor.
3-2. Target
3-2-1. Ball
3-3-1-1. Ball is diameter 5cm sponge (±10%) 3-3. Goal
3-3-1. Net
3-3-1-1. Net is 60cm wide, and has inclination to inward direction for better judgment of
scoring. (±10%)

4. Competition

4-1. Match is placed in IROC official playfield.

4-2. This competition is a tournament. (General Rule 2. Tournament part)
4-3. Control robot using controller to score points by putting ball into opponent’s net
4-4. Time limit: 2 min. If mission is not accomplished within time limit, then match stops and mission
progress until match stops will be compared.
 Robot Soccer Rules

5. Match rule
5-1. Disqualification
5-1-1. Robot touch: During matches, participants and their robots are immediately
disqualified and removed from match when participants touch robot without referee’s authorization.

5-2. Match stop

5-2-1. Robot stop: If robot stops, then referee or marshal removes the robot. If all robots of one
side stop, then opponent wins.
5-2-2. Robot fall: Match progresses even if a robot falls outside of playfield. The
robot cannot return to match.

5-3. Robot modification

5-3-1. Robot cannot be modified during match

5-4. Detailed rule

5-4-1. Referee decides which side to start the match with a ball by flipping coin. Side without ball to
start chooses which side to start.
5-4-2. Robot can push, collide, or disrupt movement to fight for the ball.
5-4-3. Referee announces freeball in below cases
5-4-3-1. Robots got tangled for more than 10 counts, so that match cannot progress.
5-4-3-2. Ball falls out of playfield
5-4-3-3. Freeball location: Last position of ball in 4 areas between one attacking side robot
and one defending side robot.
5-4-3-4. Robots outside of freeball area can be placed freely.
5-4-3-5. Defending side places robot first, then attacking side places.
5-4-4. Penalty kick is given in below cases.
5-4-4-1. If more than one robot from one side is located within penalty area. 5-4-4-2. If
winning team delays match intentionally.
5-4-4-3. If robot lifts or grabs ball and move.
5-4-4-4. Disruption of match like collision without ball
5-4-4-5. Penalty kick location: Attacker robot should be at penalty kick point in front of net.
Participant places ball in front of that robot by hand, and kick commences after whistle of referee.
5-4-4-6. Robots except robot taking penalty kick and goalkeeper robot can be placed freely
away from half-line, but unable to move until whistle of referee.
5-4-4-7. Defending side places robot first, then attacking side places.

6. Evaluation

6-1. Team scoring more goals for 2 minutes win

6-1-1. Ball bounced off or hit hand, leg, body, or head of robot to enter net is counted as goal, but
robot is not allowed to throw or push ball.
 Robot Soccer Rules

6-2. Draw
6-2-1. League
6-2-2-1. If there are teams with same match point in a league, team with more scored goal
minus conceded goal in entire league match will proceed to tournament.
6-2-2. Before semi-final
6-2-2-1. In case of draw after 2 minutes, winner is decided through penalty kick shoot-out.
6-2-2-2. In penalty shoot-out, teams shoot alternatively for total twice. 6-2-2-3. In penalty
shoot-out, all robots in a team should shoot, and one robot cannot shoot twice.
6-2-3. Semi-final ~ Final
6-2-3-1. In case of draw after 2 minutes, 1 minute extra time is given.
6-2-3-2. In case of draw after extra time, winner is decided through penalty shoot-out.