DocumentCode
695126
Title
Impulsive pedipulation of a spherical object for reaching a 3D goal position
Author
Cisneros, Rafael ; Yokoi, Kazuhito ; Yoshida, Eiichi
Author_Institution
Grad. Sch. of Syst. & Inf. Eng., Univ. of Tsukuba, Tsukuba, Japan
fYear
2013
fDate
15-17 Oct. 2013
Firstpage
154
Lastpage
160
Abstract
The aim of this paper is to develop an algorithm that enables a humanoid robot to perform an impulsive pedipulation of a spherical object by using its foot, so that the object reaches a desired 3D goal position, taking into account some constraints imposed at the moment of the impact. This is done by planning a suitable motion of the humanoid robot that exerts the required impact conditions on this object. Then, we take the free kick in soccer as a case of study that represents one possible application of this algorithm. Finally, we provide a simulation example that intends to show its validity.
Keywords
humanoid robots; mobile robots; motion control; path planning; position control; 3D goal position; humanoid robot; impulsive object pedipulation; motion planning; Angular velocity; Equations; Foot; Mathematical model; Robots; Trajectory; Vectors;
fLanguage
English
Publisher
ieee
Conference_Titel
Humanoid Robots (Humanoids), 2013 13th IEEE-RAS International Conference on
Conference_Location
Atlanta, GA
ISSN
2164-0572
Print_ISBN
978-1-4799-2617-6
Type
conf
DOI
10.1109/HUMANOIDS.2013.7029970
Filename
7029970
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