Lab meeting Jan 9th 2013 (Bang-Cheng Wang): Kicking a Ball – Modeling Complex Dynamic Motions for Humanoid Robots

Presented by Bang-Cheng Wang

From RoboCup 2010: Robot Soccer World Cup XIV, ser. Lecture Notes 

in Artificial Intelligence, E. Chown, A. Matsumoto, P. Pl¨oger, 

and J. R. del Solar, Eds. Springer, to appear in 2011.

Authors:
Judith Müller, Tim Laue, and Thomas Röfer

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.