Open AccessDissertation
Humanoid Robot Soccer Locomotionand Kick Dynamics: Open Loop Walking, Kicking and Morphing into SpecialMotions on the Nao Robot
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TLDR
A transition gait that morphs the walk directly into the kick back swing pose is developed and the act of kicking itself is explored both analytically and empirically, and solutions are provided that are versatile and powerful.Abstract:
Striker speed and accuracy in the RoboCup (SPL) international robot soccer league is becoming
increasingly important as the level of play rises. Competition around the ball is now decided in a
matter of seconds. Therefore, eliminating any wasted actions or motions is crucial when attempting to
kick the ball.
It is common to see a discontinuity between walking and kicking where a robot will return to an
initial pose in preparation for the kick action. In this thesis we explore the removal of this behaviour
by developing a transition gait that morphs the walk directly into the kick back swing pose. The
solution presented here is targeted towards the use of the Aldebaran walk for the Nao robot.
The solution we develop involves the design of a central pattern generator to allow for controlled
steps with realtime accuracy, and a phase locked loop method to synchronise with the Aldebaran walk
so that precise step length control can be activated when required. An open loop trajectory mapping
approach is taken to the walk that is stabilized statically through the use of a phase varying joint
holding torque technique. We also examine the basic princples of open loop walking, focussing on the
commonly overlooked frontal plane motion.
The act of kicking itself is explored both analytically and empirically, and solutions are provided
that are versatile and powerful. Included as an appendix, the broader matter of striker behaviour
(process of goal scoring) is reviewed and we present a velocity control algorithm that is very accurate
and efficient in terms of speed of execution.read more
Citations
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Pattern control of human locomotion
TL;DR: A review of recent studies on human locomotion shows that muscle activity is accounted for by a combination of few basic patterns, each one timed at a different phase of the gait cycle.
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.
Journal ArticleDOI
Unification of Gait Generation Methods via Variable Virtual Gravity and Its Control Performance Analysis
Robot navigation by fusing a spatio-temporal video descriptor with a robust humanoid motion control for kicking a ball
TL;DR: This work develops the specific tasks of locating, reaching and kicking a ball for a humanoid robot, and proposes a new approach which solves stability and illumination problems and introduces a novel control approach which allows to reach the ball and kick it stably.
References
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Book
Introduction to Robotics mechanics and Control
TL;DR: This chapter discusses Jacobians: Velocities and Static Forces, Robot Programming Languages and Systems, and Manipulator Dynamics, which focuses on the role of Jacobians in the control of Manipulators.
Journal ArticleDOI
Passive dynamic walking
TL;DR: The dynamics are most clearly demonstrated by a machine powered only by gravity, but they can be combined easily with active energy input to produce efficient and dextrous walking over a broad range of terrain.
Proceedings ArticleDOI
Series elastic actuators
TL;DR: It is proposed that for natural tasks, zero motion force bandwidth isn't everything, and incorporating series elasticity as a purposeful element within the actuator is a good idea.
Proceedings ArticleDOI
Biped walking pattern generation by using preview control of zero-moment point
Shuuji Kajita,Fumio Kanehiro,Kenji Kaneko,Kiyoshi Fujiwara,Kensuke Harada,Kazuhito Yokoi,Hirohisa Hirukawa +6 more
TL;DR: A new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP) is introduced and a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model.
Proceedings ArticleDOI
The development of Honda humanoid robot
TL;DR: Due to its unique posture stability control, the Honda humanoid robot is able to maintain its balance despite unexpected complications such as uneven ground surfaces and to perform simple operations via wireless teleoperation.