| Publication type: |
Article in Proceedings |
| Author: |
Judith Müller, Tim Laue, Thomas Röfer |
| Editor: |
Javier Ruiz-del-Solar, Eric Chown, Paul G. Plöger |
| Title: |
Kicking a Ball - Modeling Complex Dynamic Motions for Humanoid Robots |
| Book / Collection title: |
RoboCup 2010: Robot Soccer World Cup XIV |
| Volume: |
6556 |
| Page(s): |
109 – 120 |
| Series: |
Lecture Notes in Artificial Intelligence |
| Year published: |
2011 |
| Publisher: |
Springer, Heidelberg |
| 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. |
| PDF Version: |
http://www.informatik.uni-bremen.de/kogrob/papers/RC-Mueller-etal-11.pdf |
| Status: |
Reviewed |
| Last updated: |
06. 11. 2013 |
