Proceedings ArticleDOI
Dynamics of a 9-DoF robotic leg for a football simulator
Masoud Vahidi,S. Ali A. Moosavian +1 more
- pp 314-319
TLDR
In this article, a human-like leg was designed and modeled for the task of kicking soccer ball to desired target, and its kinematics and dynamics equations have been developed.Abstract:
This paper focuses on a robotic human-like leg. This robot was designed and modeled for task of kicking soccer ball to desired target. In addition, applications of this robot have been explained and its kinematics and dynamics equations have been developed. Kinematic analysis has been done using Denavit-Hartenberg method and position, velocity and acceleration of center of mass (CoM) of all links can be obtained. Dynamics equations of this robot have been written using recursive Lagrange method and inverse dynamics problem has been solved. Finally, kinematics and dynamics equations of this robot are verified using a numerical simulation in MATLAB simmechanics.read more
Citations
More filters
Journal ArticleDOI
Optimisation of Energy Transfer in Reluctance Coil Guns: Application to Soccer Ball Launchers
Valentin Gies,Thierry Soriano,Sebastian Marzetti,Valentin Barchasz,Herve Barthelemy,Hervé Glotin,Vincent Hugel +6 more
TL;DR: An optimization technique based on mixed mechanic, electric and electromagnetic modelling that can be applied to any reluctance coil gun is presented, concluding that splitting the kicking coil into two half size ones is the best trade-off for optimizing energy transfer.
Journal ArticleDOI
Movimientos en pierna robótica para el pateado de un balón a través de reinforcement learning
TL;DR: The goal of this study was to test the reliability of learning using RL, specifically the Q-learning algorithm, with the aim to apply these concepts in future work, like quadruped walking robots and object manipulation using electromechanical actuators.
Proceedings ArticleDOI
A humanoid kicking robot
TL;DR: The kicking robot has the advantage over human kickers of precise control of the foot position, foot speed and point of contact with the ball from one kick to the next.
References
More filters
MonographDOI
Science and football VI : the proceedings of the Sixth World Congress on Science and Football
Thomas Reilly,Feza Korkusuz +1 more
TL;DR: The edited papers from the 5th World Congress on Science and Football (Science and Football V) as discussed by the authors have been published to provide valuable information for coaches, players, trainers, managers, medical and support staff, and scientific workers concerned with the range of football codes.
Proceedings ArticleDOI
Roboleg: a robotic soccer-ball kicking leg
TL;DR: The motivation is to be seen in the ability to reproduce and vary kicks reliably to allow more accurate evaluation of new shoe and ball designs without the use of extensive human-kick data sets, statistical evaluations and unquantifiable and unknown experimental errors.
Proceedings ArticleDOI
A football kicking high speed actuator for a mobile robotic application
TL;DR: The design and validation of a high speed reluctance actuator for a soccer robot providing the capability to shoot a ball from standstill over 12 meters with a starting speed of 11 m/s is presented.
Proceedings ArticleDOI
Impact Based Trajectory Planning of a Soccer Ball in a Kicking Robot
TL;DR: A trajectory-planning algorithm of a ball is proposed, and then an external impulse required for that motion is calculated and applied to the kicking simulation, and the aerodynamic effect such as drag force and lift force is incorporated into the dynamic simulation of the soccer ball.
Proceedings ArticleDOI
Optimization of parametrised kicking motion for humanoid soccer player
Nicolas Jouandeau,Vincent Hugel +1 more
TL;DR: This paper presents a detailed description of the optimization process used to increase the kicking skills of humanoid players, an evolution of skills parameters guided by a evaluation function that aims to send the ball as far as possible.