CIT Brains KidSize Robot: RoboCup 2015 KidSize League Winner

In this paper, we describe technologies of the robot Accelite that is the winner of the RoboCup2015 Humanoid KidSize League. In 2015, the rules of the humanoid league were changed dramatically. The ball was changed from a monochromatic orange ball to a real soccer ball. Furthermore, the goal color was also changed from yellow to white. Therefore, the soccer robots in the humanoid league were not able to detect the ball based on just colors. We developed some detection methods and verified their effectiveness. Consequently, our robots detected the ball robustly and we succeeded in the technical challenge "Goal-Kick from Moving Ball". In RoboCup 2015, the field of play was also changed from a punch carpet to an artificial grass. Because the pile length of the artificial grass in RoboCup2015 was long, our robots were not able to walk robustly when we started to use the field. We also explain how we solved the problem. We also discuss how we succeeded in the technical challenges.