Related papers: Maximum Impulse Approach to Soccer Kicking for Hum…
Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs to simultaneously: 1) transfer high kinetic energy to the…
Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. Current solutions, whether traditional position-based control…
Soccer presents a significant challenge for humanoid robots, demanding tightly integrated perception-action capabilities for tasks like perception-guided kicking and whole-body balance control. Existing approaches suffer from inter-module…
Learning fast and robust ball-kicking skills is a critical capability for humanoid soccer robots, yet it remains a challenging problem due to the need for rapid leg swings, postural stability on a single support foot, and robustness under…
Step adjustment for humanoid robots has been shown to improve robustness in gaits. However, step duration adaptation is often neglected in control strategies. In this paper, we propose an approach that combines both step location and timing…
High dynamic jump motions are challenging tasks for humanoid robots to achieve environment adaptation and obstacle crossing. The trajectory optimization is a practical method to achieve high-dynamic and explosive jumping. This paper…
In soccer, scoring goals is a fundamental objective which depends on many conditions and constraints. Considering the RoboCup soccer 2D-simulator, this paper presents a data mining-based decision system to identify the best time and…
Humanoid soccer dribbling is a highly challenging task that demands dexterous ball manipulation while maintaining dynamic balance. Traditional rule-based methods often struggle to achieve accurate ball control due to their reliance on fixed…
Robots playing soccer often rely on hard-coded behaviors that struggle to generalize when the game environment change. In this paper, we propose a temporal logic based approach that allows robots' behaviors and goals to adapt to the…
In this paper, we present the probably first application of the popular \emph{Dynamic Movement Primitives (DMP)} approach to the domain of soccer-playing humanoid robots. DMPs are known for their ability to imitate previously demonstrated…
Humanoid robots have demonstrated strong capabilities for interacting with static scenes across locomotion and manipulation, yet dynamic real-world interactions remain challenging. As a step toward fast-moving object interactions, we…
Over the past few years, soccer-playing humanoid robots have advanced significantly. Elementary skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to allow for dynamic and exciting games. When…
This paper introduces SoccerDiffusion, a transformer-based diffusion model designed to learn end-to-end control policies for humanoid robot soccer directly from real-world gameplay recordings. Using data collected from RoboCup competitions,…
Intelligent behaviour in the physical world exhibits structure at multiple spatial and temporal scales. Although movements are ultimately executed at the level of instantaneous muscle tensions or joint torques, they must be selected to…
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external…
The development of athletic humanoid robots has gained significant attention as advances in actuation, sensing, and control enable increasingly dynamic, real-world capabilities. RoboCup, an international competition of fully autonomous…
Realizing versatile and human-like performance in high-demand sports like badminton remains a formidable challenge for humanoid robotics. Unlike standard locomotion or static manipulation, this task demands a seamless integration of…
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are…
Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…
Humanoid soccer poses a representative challenge for embodied intelligence, requiring robots to operate within a tightly coupled perception-action loop. However, existing systems typically rely on decoupled modules, resulting in delayed…