Omnidirectional Kick for a Humanoid Robot

• Type: Article in International Conference Proceedings Book
• Date: 2012

Authors

ferreira, rac (Author) Other; reis, lp (Author) FEUP; António Paulo Moreira (Author) FEUP; lau, n (Author) Other

Conference proceedings International

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

Pages: 571-580

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

Madrid, SPAIN, JUN 20-23, 2012

Indexing

ISI Web of Knowledge - 2 Citations

Scopus - 15 Citations

Other information

Authenticus ID: 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.

Language: Portuguese

Type (Professor's evaluation): Scientific

No. of pages: 6