This work addresses the problem of traction control in mobile wheeledrobots in the particular case of the RoboCup Middle Size League (MSL).The slip control problem is formulated using simple frictionmodels for ISePorto Team robots with a differential wheelconfiguration. Traction was also characterized experimentally inthe MSL scenario for relevant game events.This work proposes a hierarchical traction control architecture which reliesin local slip detection and control at each wheel, withrelevant information being relayed to a higher level responsible forglobal robot motion control.A dedicated one axis control embedded hardware subsystem allowing complexlocal control, high frequency current sensing and odometricinformation procession was developed. This local axis controlboard is integrated in a distributed system using CAN buscommunications.The slipping observer was implemented in the axis control hardwarenodes integrated in the ISePorto robots and was used to control and detect loss offor traction. %and to detect the ball in the kicking device.An external vision system was used to perform a qualitative analysis of theslip detection and observer performance results are presented.
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