Abstract
Complex motions like kicking a ball into the goal are becoming more important in RoboCup leagues such as the Standard Platform League. Thus, there is a need for motion sequences that can be parameterized and changed dynamically. This paper presents a motion engine that translates motions into joint angles by using trajectories. These motions are defined as a set of Bezier curves that can be changed online to allow adjusting, for example, a kicking motion precisely to the actual position of the ball. During the execution, motions are stabilized by the combination of center of mass balancing and a gyro feedback-based closed-loop PID controller. © 2011 Springer-Verlag.
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CITATION STYLE
Müller, J., Laue, T., & Röfer, T. (2011). Kicking a ball - Modeling complex dynamic motions for humanoid robots. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 6556 LNAI, pp. 109–120). https://doi.org/10.1007/978-3-642-20217-9_10
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