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

Yuan Xu, Heinrich Mellmann
2010 Lecture Notes in Computer Science  
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. However, at the current state the most common approaches of implementing this motion are based on key frame technique. Such solutions are inflexible and cost a lot of time to adjust robot's position. In this paper we present an approach for adaptive control of the motions. We implemented our approach in order to solve
more » ... the task of kicking the ball on a humanoid robot Nao. The approach was tested both in simulation and on a real robot. Both authors contributed equally to this work. The research team is grateful for the comments of the reviewers that help improve the manuscript.
doi:10.1007/978-3-642-16111-7_45 fatcat:2dmofjgqgbf3pjkgjxnfqthfoa