Kicking a ball - modeling complex dynamic motions for humanoid robots
01 Jan 2011-pp 109-120
TL;DR: A motion engine that translates motions into joint angles by using trajectories is presented, 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.
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.
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119 citations
18 Jun 2012
TL;DR: A walking approach for the Nao robot that improves the agility and stability of the robot when walking on a flat surface such as the soccer field used in the Standard Platform League.
Abstract: In this paper, we present a walking approach for the Nao robot that improves the agility and stability of the robot when walking on a flat surface such as the soccer field used in the Standard Platform League. The gait uses the computationally inexpensive model of an inverted pendulum to generate a target trajectory for the center of mass of the robot. This trajectory is adapted using the observed real motion of the center of mass. This approach does not only allow compensating the inaccuracies in the model, but it also allows for reacting to external perturbations effectively. In addition, the method aims at facilitating a preferably fast walk while reducing the load on the joints.
36 citations
01 Nov 2012
TL;DR: An online grasping system for the Nao robot, manufactured by Aldebaran Robotics, consists of an object detector and a grasp motion planner that allow detecting and grasping objects in real-time on an affordable humanoid robot.
Abstract: In this paper we introduce an online grasping system for the Nao robot [1] manufactured by Aldebaran Robotics. The proposed system consists of an object detector and a grasp motion planner. Thereby, known objects are detected by a stereo contour-based object detector and hand motion paths are planned by an A*-based algorithm while avoiding obstacles. Compared to skilled robots such as Justin [2] or ASIMO [3] online grasping with the Nao constitute as particular problem due to the limited processing power and the hand design. The methods proposed allow detecting and grasping objects in real-time on an affordable humanoid robot.
27 citations
Cites methods from "Kicking a ball - modeling complex d..."
...In order to execute a plan found, a trajectory-based motion engine [16] was extended to take...
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24 Dec 2012
TL;DR: A motion controller for a humanoid robot that generates impacts at an end effector while keeping the robot body balanced before and after the impact using a simplified model of the robot and biomechanically motivated push recovery controllers to reactively stabilize the robot against unknown perturbations from the impact.
Abstract: During heavy work, humans utilize whole body motions in order to generate large forces. In extreme cases, exaggerated weight shifts are used to impart large impact forces. There have been approaches to design stable whole body impact motions based on precise dynamic models of the robot and the target object, but they have practical limitations as the uncertainty in the ensuing reaction forces can lead to instability. In the current work, we describe a motion controller for a humanoid robot that generates impacts at an end effector while keeping the robot body balanced before and after the impact. Instead of relying on the accuracy of the impact dynamics model, we use a simplified model of the robot and biomechanically motivated push recovery controllers to reactively stabilize the robot against unknown perturbations from the impact. We demonstrate our approach in physically realistic simulations, as well as experimentally on a small humanoid robot platform.
14 citations
Cites background from "Kicking a ball - modeling complex d..."
...a nailing task with a hammer [6], wooden plate breaking [7], [8], ball kicking [9], and dynamic lifting [10]....
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24 Jun 2013
TL;DR: This paper presents a method to generate the trajectory of the kick foot online and to move the rest of the robot’s body such that it is dynamically balanced.
Abstract: One of the major tasks of playing soccer is kicking the ball. Executing such complex motions is often solved by interpolating key-frames of the entire motion or by using predefined trajectories of the limbs of the soccer robot. In this paper we present a method to generate the trajectory of the kick foot online and to move the rest of the robot’s body such that it is dynamically balanced. To estimate the balance of the robot, its Zero-Moment Point (ZMP) is calculated from its movement using the solution of the Inverse Dynamics. To move the ZMP, we use either a Linear Quadratic Regulator on the local linearization of the ZMP or the Cart-Table Preview Controller and compare their performances.
14 citations
References
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Book•
01 Jan 1995
TL;DR: This chapter discusses the development of Hardware and Software for Computer Graphics, and the design methodology of User-Computer Dialogues, which led to the creation of the Simple Raster Graphics Package.
Abstract: 1 Introduction Image Processing as Picture Analysis The Advantages of Interactive Graphics Representative Uses of Computer Graphics Classification of Applications Development of Hardware and Software for Computer Graphics Conceptual Framework for Interactive Graphics 2 Programming in the Simple Raster Graphics Package (SRGP)/ Drawing with SRGP/ Basic Interaction Handling/ Raster Graphics Features/ Limitations of SRGP/ 3 Basic Raster Graphics Algorithms for Drawing 2d Primitives Overview Scan Converting Lines Scan Converting Circles Scan Convertiing Ellipses Filling Rectangles Fillign Polygons Filling Ellipse Arcs Pattern Filling Thick Primiives Line Style and Pen Style Clipping in a Raster World Clipping Lines Clipping Circles and Ellipses Clipping Polygons Generating Characters SRGP_copyPixel Antialiasing 4 Graphics Hardware Hardcopy Technologies Display Technologies Raster-Scan Display Systems The Video Controller Random-Scan Display Processor Input Devices for Operator Interaction Image Scanners 5 Geometrical Transformations 2D Transformations Homogeneous Coordinates and Matrix Representation of 2D Transformations Composition of 2D Transformations The Window-to-Viewport Transformation Efficiency Matrix Representation of 3D Transformations Composition of 3D Transformations Transformations as a Change in Coordinate System 6 Viewing in 3D Projections Specifying an Arbitrary 3D View Examples of 3D Viewing The Mathematics of Planar Geometric Projections Implementing Planar Geometric Projections Coordinate Systems 7 Object Hierarchy and Simple PHIGS (SPHIGS) Geometric Modeling Characteristics of Retained-Mode Graphics Packages Defining and Displaying Structures Modeling Transformations Hierarchical Structure Networks Matrix Composition in Display Traversal Appearance-Attribute Handling in Hierarchy Screen Updating and Rendering Modes Structure Network Editing for Dynamic Effects Interaction Additional Output Features Implementation Issues Optimizing Display of Hierarchical Models Limitations of Hierarchical Modeling in PHIGS Alternative Forms of Hierarchical Modeling 8 Input Devices, Interaction Techniques, and Interaction Tasks Interaction Hardware Basic Interaction Tasks Composite Interaction Tasks 9 Dialogue Design The Form and Content of User-Computer Dialogues User-Interfaces Styles Important Design Considerations Modes and Syntax Visual Design The Design Methodology 10 User Interface Software Basic Interaction-Handling Models Windows-Management Systems Output Handling in Window Systems Input Handling in Window Systems Interaction-Technique Toolkits User-Interface Management Systems 11 Representing Curves and Surfaces Polygon Meshes Parametric Cubic Curves Parametric Bicubic Surfaces Quadric Surfaces 12 Solid Modeling Representing Solids Regularized Boolean Set Operations Primitive Instancing Sweep Representations Boundary Representations Spatial-Partitioning Representations Constructive Solid Geometry Comparison of Representations User Interfaces for Solid Modeling 13 Achromatic and Colored Light Achromatic Light Chromatic Color Color Models for Raster Graphics Reproducing Color Using Color in Computer Graphics 14 The Quest for Visual Realism Why Realism? Fundamental Difficulties Rendering Techniques for Line Drawings Rendering Techniques for Shaded Images Improved Object Models Dynamics Stereopsis Improved Displays Interacting with Our Other Senses Aliasing and Antialiasing 15 Visible-Surface Determination Functions of Two Variables Techniques for Efficient Visible-Surface Determination Algorithms for Visible-Line Determination The z-Buffer Algorithm List-Priority Algorithms Scan-Line Algorithms Area-Subdivision Algorithms Algorithms for Octrees Algorithms for Curved Surfaces Visible-Surface Ray Tracing 16 Illumination And Shading Illumination Modeling Shading Models for Polygons Surface Detail Shadows Transparency Interobject Reflections Physically Based Illumination Models Extended Light Sources Spectral Sampling Improving the Camera Model Global Illumination Algorithms Recursive Ray Tracing Radiosity Methods The Rendering Pipeline 17 Image Manipulation and Storage What Is an Image? Filtering Image Processing Geometric Transformations of Images Multipass Transformations Image Compositing Mechanisms for Image Storage Special Effects with Images Summary 18 Advanced Raster Graphic Architecture Simple Raster-Display System Display-Processor Systems Standard Graphics Pipeline Introduction to Multiprocessing Pipeline Front-End Architecture Parallel Front-End Architectures Multiprocessor Rasterization Architectures Image-Parallel Rasterization Object-Parallel Rasterization Hybrid-Parallel Rasterization Enhanced Display Capabilities 19 Advanced Geometric and Raster Algorithms Clipping Scan-Converting Primitives Antialiasing The Special Problems of Text Filling Algorithms Making copyPixel Fast The Shape Data Structure and Shape Algebra Managing Windows with bitBlt Page Description Languages 20 Advanced Modeling Techniques Extensions of Previous Techniques Procedural Models Fractal Models Grammar-Based Models Particle Systems Volume Rendering Physically Based Modeling Special Models for Natural and Synthetic Objects Automating Object Placement 21 Animation Conventional and Computer-Assisted Animation Animation Languages Methods of Controlling Animation Basic Rules of Animation Problems Peculiar to Animation Appendix: Mathematics for Computer Graphics Vector Spaces and Affine Spaces Some Standard Constructions in Vector Spaces Dot Products and Distances Matrices Linear and Affine Transformations Eigenvalues and Eigenvectors Newton-Raphson Iteration for Root Finding Bibliography Index 0201848406T04062001
5,692 citations
3,375 citations
10 Nov 2003
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.
Abstract: We introduce a new method of a biped walking pattern generation by using a preview control of the zero-moment point (ZMP). First, the dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation to treat ZMP. After reviewing conventional methods of ZMP based pattern generation, we formalize the problem as the design of a ZMP tracking servo controller. It is shown that we can realize such controller by adopting the preview control theory that uses the future reference. It is also shown that a preview controller can be used to compensate the ZMP error caused by the difference between a simple model and the precise multibody model. The effectiveness of the proposed method is demonstrated by a simulation of walking on spiral stairs.
2,090 citations
"Kicking a ball - modeling complex d..." refers background in this paper
...The approach presented in [13] introduces a concept that – as foresighted car driving – not only considers the actual location of the COM but also the future movements....
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Book•
01 Jul 1990876 citations
"Kicking a ball - modeling complex d..." refers background in this paper
...According to [10], the connection point of two Bezier curves with different timings is continuously differentiable if the points P2, P3 and Q1 are collinear and the ratio of the distance between P2 and P3 and the distance of P3 and Q1 equals the ratio between Δt1 and Δt2....
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..., the timings of both phases are equal, continuously differentiability is given if P2, P3, and Q1 of b1(t1) and b2(t2) are collinear and equidistant [10]....
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...Equation 3 and 4 applied to 2 provides the condition to guarantee continuous differentiability in the connection point between two Bezier curves with equal timings [10]: P3 − P2 = Q1 − P3 (5)...
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Book•
12 Mar 2014
TL;DR: This book presents a unique combination of mobile robots and embedded systems, from introductory to intermediate level, and is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics.
Abstract: This book presents a unique combination of mobile robots and embedded systems, from introductory to intermediate level. It is structured in three parts, dealing with embedded systems (hardware and software design, actuators, sensors, PID control, multitasking), mobile robot design (driving, balancing, walking, and flying robots), and mobile robot applications (mapping, robot soccer, genetic algorithms, neural networks, behavior-based systems, and simulation). The book is written as a text for courses in computer science, computer engineering, IT, electronic engineering, and mechatronics, as well as a guide for robot hobbyists and researchers.
172 citations