Adaptive motion control: dynamic kick for a humanoid robot

Authors:
Yuan Xu;Heinrich Mellmann
Affiliations:
Institut für Informatik, LFG Künstliche Intelligenz, Humboldt-Universität zu Berlin, Germany;Institut für Informatik, LFG Künstliche Intelligenz, Humboldt-Universität zu Berlin, Germany
Venue:
KI'10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence
Year:
2010

Citing 3
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Abstract

Automatic, full body motion generation for humanoid robots presents a formidable computational challenge. The kicking motion is one of the most important motions in a soccer game. However, at the current state the most common approaches of implementing this motion are based on key frame technique. Such solutions are inflexible and cost a lot of time to adjust robot's position. In this paper we present an approach for adaptive control of the motions. We implemented our approach in order to solve the task of kicking the ball on a humanoid robot Nao. The approach was tested both in simulation and on a real robot.