Maximum Impulse Approach to Soccer Kicking for Humanoid Robots

Grzegorz Ficht; Sven Behnke

Maximum Impulse Approach to Soccer Kicking for Humanoid Robots

Robotics 2024-12-03 v1

Authors: Grzegorz Ficht , Sven Behnke

Abstract

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.

Keywords

robot locomotion

Cite

@article{arxiv.2412.01480,
  title  = {Maximum Impulse Approach to Soccer Kicking for Humanoid Robots},
  author = {Grzegorz Ficht and Sven Behnke},
  journal= {arXiv preprint arXiv:2412.01480},
  year   = {2024}
}

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