Maximum Impulse Approach to Soccer Kicking for Humanoid Robots

Autor:	Ficht, Grzegorz, Behnke, Sven
Rok vydání:	2024
Předmět:	Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	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.
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2412.01480 Zobrazit plný text záznamu View this record from Arxiv