Kicking a ball - modeling complex dynamic motions for humanoid robots

Authors:
Judith Müller;Tim Laue;Thomas Röfer
Affiliations:
Universität Bremen, Fachbereich 3 - Mathematik und Informatik, Bremen, Germany;Deutsches Forschungszentrum für Künstliche Intelligenz, Sichere Kognitive Systeme, Bremen, Germany;Deutsches Forschungszentrum für Künstliche Intelligenz, Sichere Kognitive Systeme, Bremen, Germany
Venue:
RoboCup 2010
Year:
2011

Citing 4
Cited 2

Computer graphics: principles and practice (2nd ed.)

Computer graphics: principles and practice (2nd ed.)
GermanTeam 2001

RoboCup 2001: Robot Soccer World Cup V
Embedded Robotics

Embedded Robotics
Observer-based dynamic walking control for biped robots

Robotics and Autonomous Systems

B-human 2011: eliminating game delays

Robot Soccer World Cup XV
A center of mass observing 3D-LIPM gait for the RoboCup standard platform league humanoid

Robot Soccer World Cup XV

Quantified Score

Hi-index	0.00

Visualization

Abstract

Complex motions like kicking a ball into the goal are becoming more important in RoboCup leagues such as the Standard Platform League. Thus, there is a need for motion sequences that can be parameterized and changed dynamically. This paper presents a motion engine that translates motions into joint angles by using trajectories. These motions are defined as a set of Bezier curves that can be changed online to allow adjusting, for example, a kicking motion precisely to the actual position of the ball. During the execution, motions are stabilized by the combination of center of mass balancing and a gyro feedback-based closed-loop PID controller.