Design and implementation of penalty kick function for small-sized humanoid robot by using FPGA

This paper mainly concerns about the development of a small-sized humanoid robot for penalty kick function in FIRA by using FPGA. The environment information is captured by the CMOS image sensor and the strategy is processed by FPGA. We will describe how the robot search the ball in the field and the tracking algorithm will be introduced. The strategy for PK event will also be presented in this paper. The contribution of this paper is the implementation of the PK strategy for a small-sized humanoid robot.