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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

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