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Kicking a Ball – Modeling Complex Dynamic Motions for Humanoid Robots [chapter]

Judith Müller, Tim Laue, Thomas Röfer
2011 Lecture Notes in Computer Science  
Complex motions like kicking a ball into the goal are becoming more important in RoboCup leagues such as the Standard Platform League.  ...  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 of a kicking motion, the position of the ball might change, either in reality after having been touched by a robot, or virtually in the kicking robot's world model after having perceived  ... 
doi:10.1007/978-3-642-20217-9_10 fatcat:4yv27dkjm5asleymnf2bsxq5wy

NaOISIS: A 3-D Behavioural Simulator for the NAO Humanoid Robot [chapter]

Aris Valtazanos, Subramanian Ramamoorthy
2012 Lecture Notes in Computer Science  
We present NaOISIS, a three-dimensional behavioural simulator for the NAO humanoid robot, aimed at designing and testing physically plausible strategic behaviours for multi-agent soccer teams.  ...  NaOI-SIS brings together features from both physical three-dimensional simulators that model robot dynamics and interactions, and two-dimensional environments that are used to design sophisticated team  ...  SimSpark features a physical model of the NAO humanoid dynamics, while also modeling the limited field of view of the robot and its perspective view of the environment.  ... 
doi:10.1007/978-3-642-32060-6_29 fatcat:trj6ila4gjdtrh2blcmzepy7kq

Adaptive motion control with visual feedback for a humanoid robot

H Mellmann, Yuan Xu
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
We implemented our approach in order to solve the task of kicking the ball on a humanoid robot Nao. The approach was tested both in simulation and on a real robot.  ...  However, automatic, full body motion generation for humanoid robots presents a formidable computational challenge.  ...  The research team is also grateful for the comments of the reviewers that help improve the manuscript.  ... 
doi:10.1109/iros.2010.5650226 dblp:conf/iros/MellmannX10 fatcat:kkb3n6x2pbet7lb7kzvieejabq

Whole-Body Motion Planning for Humanoid Robots by Specifying Via-Points

ChangHyun Sung, Takahiro Kagawa, Yoji Uno
2013 International Journal of Advanced Robotic Systems  
We applied this method to generate the kicking motion of a humanoid robot HOAP-3.  ...  We design a framework about the planning of whole body motion for humanoid robots. Motion planning with various constraints is essential to success the task.  ...  Kouichi Taji for his helpful suggestions. This study was supports by a Grant-in-Aid for Scientific Research (B) No.21300092 and (C) No.23560526.  ... 
doi:10.5772/56747 fatcat:bmasnrhhpbhyxaa3tocuabpkfi

Adaptive Motion Control: Dynamic Kick for a Humanoid Robot [chapter]

Yuan Xu, Heinrich Mellmann
2010 Lecture Notes in Computer Science  
In this paper we present an approach for adaptive control of the motions. We implemented our approach in order to solve the task of kicking the ball on a humanoid robot Nao.  ...  Automatic, full body motion generation for humanoid robots presents a formidable computational challenge. The kicking motion is one of the most important motions in a soccer game.  ...  Introduction Automatic, full body motion generation for humanoid robots presents a formidable computational challenge due to -the high number of degrees of freedom; -complex kinematic and dynamic models  ... 
doi:10.1007/978-3-642-16111-7_45 fatcat:2dmofjgqgbf3pjkgjxnfqthfoa

HIERARCHICAL REACTIVE CONTROL FOR HUMANOID SOCCER ROBOTS

SVEN BEHNKE, JÖRG STÜCKLER
2008 International Journal of Humanoid Robotics  
Humanoid soccer serves as a benchmark problem for artificial intelligence research and robotics. Every year, more teams are competing, for example, in the RoboCup Humanoid League.  ...  The complexity of soccer behaviors and team play calls for structured behavior engineering. In this paper, we describe the design of the behavior control software for the Humanoid League team NimbRo.  ...  The authors thank all members of the NimbRo team for their extraordinary effort prior to and during the RoboCup 2007 competition.  ... 
doi:10.1142/s0219843608001510 fatcat:gnjla6ejl5brhdmin75f7kpdsu

Towards cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

Jutta Kiener, Oskar von Stryk
2010 Robotics and Autonomous Systems  
The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal.  ...  In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant  ...  Also different algorithms can be selected for different robots, e.g. a dynamics simulation for the humanoid robot's and a kinematic or point mass model for the wheeled robot's locomotion.  ... 
doi:10.1016/j.robot.2010.03.013 fatcat:hmvieeovunajhjs2zlljwbrb5u

Hierarchical Reactive Control for Soccer Playing Humanoid Robots [chapter]

Sven Behnke, Jorg Stuckler, Hauke Strasdat, Michael Schreiber
2007 Humanoid Robots, Human-like Machines  
The objects are also combined with previous observations, which are adjusted by a motion model, if the robot is moving.  ...  Playing soccer with humanoid robots is a complex task, and the development has only started.  ...  In the second part diverse results around the biped motion of humanoid robots are presented.  ... 
doi:10.5772/4827 fatcat:b47yu2vlm5ca3povsvtluxsy6i

Multi-humanoid world modeling in Standard Platform robot soccer

Brian Coltin, Somchaya Liemhetcharat, Cetin Mericli, Junyun Tay, Manuela Veloso
2010 2010 10th IEEE-RAS International Conference on Humanoid Robots  
We contribute a modeling approach that differentiates among the motion model of different objects, in terms of their dynamics, namely the static landmarks (e.g., goal posts, lines, corners), the passive  ...  In the RoboCup Standard Platform League (SPL), the robot platform is the same humanoid NAO robot for all the competing teams.  ...  Models of passive objects include a motion model for tracking their velocity and trajectory, as well as the effects of other robots' actions on the object, for example, when a teammate kicks the ball.  ... 
doi:10.1109/ichr.2010.5686314 dblp:conf/humanoids/ColtinLMTV10 fatcat:rin4vqy7vfaqtfieicyzmneope

Bridging the Reality Gap — A Dual Simulator Approach to the Evolution of Whole-Body Motion for the Nao Humanoid Robot

Malachy Eaton
2016 Proceedings of the 8th International Joint Conference on Computational Intelligence  
Once a viable whole-body motion has been evolved, this evolved motion is subsequently transferred for testing onto another simulation platform -Webots.  ...  Using this procedure we have successfully evolved ball kicking behaviour in simulation, which has transferred with reasonable fidelity onto to the real Nao humanoid.  ...  ACKNOWLEDGEMENTS My thanks to Jason Brownlee for his Lua GA implementation which provided the inspiration for our GA coding.  ... 
doi:10.5220/0006052301860192 dblp:conf/ijcci/Eaton16 fatcat:6d2ansbkmrhhxl42dsgucpuyeq

VERSATILE, HIGH-QUALITY MOTIONS AND BEHAVIOR CONTROL OF A HUMANOID SOCCER ROBOT

MARTIN FRIEDMANN, JUTTA KIENER, SEBASTIAN PETTERS, DIRK THOMAS, OSKAR VON STRYK, HAJIME SAKAMOTO
2008 International Journal of Humanoid Robotics  
A testbed for such humanoid robots is RoboCup, a yearly organized competition for autonomous robot soccer.  ...  In the Humanoid Robot Project the robot HRP-3 (1600 mm, 65 kg, 36 DOF) with special skills for water and dust resistivity is the successor of the HRP-2 model.  ...  accurate model of the humanoid robot dynamics.  ... 
doi:10.1142/s0219843608001509 fatcat:5vnawofa3vekng5kvlrmhortfq

Planning and fast re-planning of safe motions for humanoid robots: Application to a kicking motion

Sebastien Lengagne, Philippe Fraisse, Nacim Ramdani
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Optimal motions are usually used as joint reference trajectories for repetitive or complex motions.  ...  In the case of soccer robots, the kicking motion is usually a benchmark motion, computed off-line, without taking into account the current position of the robot or the direction of the goal.  ...  Humanoid robots are complex systems in which neither geometric structure nor dynamic model are simple. This complexity limits the reactive capabilities of computation for motion planning.  ... 
doi:10.1109/iros.2009.5354002 dblp:conf/iros/LengagneFR09 fatcat:ppnnvx5ghrbcteohzoel3b2v6i

Modular software architecture for teams of cooperating, heterogeneous robots

Martin Friedmann, Jutta Kiener, Sebastian Petters, Dirk Thhomas, Oskar von Stryk
2006 2006 IEEE International Conference on Robotics and Biomimetics  
For teams of cooperating autonomous lightweight robots with challenging dynamical locomotion properties a platform independent modular software architecture and platform independent modules for sensor  ...  The application to teams of cooperating small and medium size humanoid robots is investigated in this paper. Scenarios for inter robot communication and cooperative task accomplishment are described.  ...  The task is to kick a ball into a goal after following it for a long distance. In this scenario only the humanoid robot is able to kick the ball.  ... 
doi:10.1109/robio.2006.340270 dblp:conf/robio/FriedmannKPTS06 fatcat:mwxpovkjwfeuhi74mph24rtoky

THE CHALLENGE OF MOTION PLANNING FOR SOCCER PLAYING HUMANOID ROBOTS

STEFANO CARPIN, MARCELO KALLMANN, ENRICO PAGELLO
2008 International Journal of Humanoid Robotics  
While the above challenges hold for any humanoid robot, the soccer scenario adds difficulties rarely addressed in humanoid motion planning research, as for example: dynamic environments with active opponents  ...  This paper surveys state of the art research in motion planning for humanoid robots with focus on outlining connections, differences, and identifying the key aspects that ought to be addressed when developing  ...  The majority of humanoids motion planning methods ignore the problem of diving to the floor and rapidly recovering the upright position. • Robots need to kick the ball.  ... 
doi:10.1142/s0219843608001480 fatcat:mh2t76wgxvahxpm47v4gjz42hi

RoboCup 2011 Humanoid League Winners [chapter]

Daniel D. Lee, Seung-Joon Yi, Stephen McGill, Yida Zhang, Sven Behnke, Marcell Missura, Hannes Schulz, Dennis Hong, Jeakweon Han, Michael Hopkins
2012 Lecture Notes in Computer Science  
Elementary skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to allow for dynamic and exciting games.  ...  Over the past few years, soccer-playing humanoid robots advanced significantly.  ...  Acknowledgements: The authors would like to recognize the National Science Foundation and the Office of Naval Research for partially supporting this work through grants CNS 0958406 and ONR 45006.  ... 
doi:10.1007/978-3-642-32060-6_4 fatcat:unqxxai64zctvl3cnsa5qftxbm
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