Omnidirectional Kick for a Humanoid Robot

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2012

Autores

ferreira, rac (Autor) Outra; reis, lp (Autor) FEUP; António Paulo Moreira (Autor) FEUP; lau, n (Autor) Outra

Ata de Conferência Internacional

Título: 7TH IBERIAN CONFERENCE ON INFORMATION SYSTEMS AND TECHNOLOGIES (CISTI 2012)

Páginas: 571-580

7th Iberian Conference on Information Systems and Technologies (CISTI)

Madrid, SPAIN, JUN 20-23, 2012

Indexação

ISI Web of Knowledge - 2 Citações

Scopus - 15 Citações

Outras Informações

ID Authenticus: P-002-E60

DOI: 10.1007/978-3-642-34654-5_58

Abstract (EN): In this paper we propose a method to develop an omnidirectional kick (behavior) for a humanoid robot. This behavior uses a path planning module to create a trajectory that the foot must follow to propel the ball in the intended direction. Two additional modules were required when performing the movement: Inverse kinematics module which computes the value of the joints to position the foot at a given position and the stability module which is responsible for the robot's stability. Simulation tests are performed under different ball positions, relative to the robot's orientation, and for various ball directions. The results obtained showed the usefulness of the approach since the behavior performs accurately the intended motion and is able to kick the ball in all the directions desired.

Idioma: Português

Tipo (Avaliação Docente): Científica

Nº de páginas: 6