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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Kicking a Ball – Modeling Complex Dynamic Motions for Humanoid Robots
verfasst von : Judith Müller, Tim Laue, Thomas Röfer
Erschienen in: RoboCup 2010: Robot Soccer World Cup XIV
Verlag: Springer Berlin Heidelberg
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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.