本文研究并设计了一个有效的防守系统，为机器人足球系统防守的有效性提供了保障。

In this paper, the effective defence system has been researched and designed. This Robotic Soccer system provides the validity safeguards for the defence of Robotic Soccer system.

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拿带球和防守来说，初始代码的游戏平衡很好，可是一旦加入了新的防守系统，并且更加强调身体，就使得游戏发生剧烈的变化。

Take dribbling and defending. There was a greater balance in preview code, but once shipped new defensive maneuvers and emphasis on physicality changed things drastically.

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该控制系统以高性能和功能完备为目标，使机器人实现了快速性和灵活性，以及保证了进攻和防守的能力。

This control system aims at high performance and integrated functions, which contribute to high speed and agility, and ensure the capabilities of attack and defense of the robot.

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