arXiv Open Access 2024

Maximum Impulse Approach to Soccer Kicking for Humanoid Robots

Grzegorz Ficht Sven Behnke

Lihat Sumber

Abstrak

We introduce an analytic method for generating a parametric and constraint-aware kick for humanoid robots. The kick is split into four phases with trajectories stemming from equations of motion with constant acceleration. To make the motion execution physically feasible, the kick duration alters the step frequency. The generated kicks seamlessly integrate within a ZMP-based gait, benefitting from the stability provided by the built-in controls. The whole approach has been evaluated in simulation and on a real NimbRo-OP2X humanoid robot.

Topik & Kata Kunci

cs.RO

Penulis (2)

Grzegorz Ficht

Sven Behnke

Format Sitasi

APA MLA BibTeX

Ficht, G., Behnke, S. (2024). Maximum Impulse Approach to Soccer Kicking for Humanoid Robots. https://arxiv.org/abs/2412.01480

Akses Cepat

Lihat di Sumber

Informasi Jurnal

Tahun Terbit: 2024
Bahasa: en
Sumber Database: arXiv
Akses: Open Access ✓