Abstract
Middle Size League (MSL) is one of the divisions in the Robocup competition. Robocup is an international research organization that focuses on developing soccer robots. This organization aims to build a soccer robots team and will be competed with the winner of the world cup in 2050. In mobile soccer robot the ability to perform a kick mechanism is a basic thing that must be owned by soccer robot. Therefore, the focus of this research is to improve the accuracy and control of power shooting in kicking the ball, so that the robot can make decisions when doing the process of flat and lob shoot with a varied kick power that is controlled by Fuzzy Logic Controller. This method serves to improve the accuracy of the kick, so that the ball can fall at a specified point. Giving two inputs consisting of the distance of the ball goal and the opponent’s distance with the robot will generate power kicks and kick angles that are used as its output. The power of shooting are divided into five variations. First, very fast kick which using 500V and 40 degree angle will reach distance of 8.5 meters and height of 2.2 meters. Second, fast which use a voltage between 300V-475V. Third, medium which use a voltage of 250V-425V. Fourth, slow use a voltage 175V-300V. Last, very slow use a voltage between 150V-250V.
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