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Synthesis of a compensated kick pattern for humanoid robots using conservation laws

Meghdari, A ; Sharif University of Technology | 2006

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  1. Type of Document: Article
  2. DOI: 10.1115/detc2006-99121
  3. Publisher: American Society of Mechanical Engineers , 2006
  4. Abstract:
  5. The motivation of this work is to synthesize a kicking pattern for a humanoid robot with consideration of various objectives such as retaining its balance even after the kick is done and reducing the undesired angular momentum using both hands and torso. This kick pattern is designed so that a desirable ball velocity is achieved. In this paper, the law of conservation of angular momentum is used to generate a less energy consuming trajectory. Effectiveness of the proposed method is verified using computer simulation and is tested on Sharif CEDRA humanoid robot. Copyright © 2006 by ASME
  6. Keywords:
  7. Computer simulation ; Energy utilization ; Motion estimation ; Robotic arms ; Angular momentum ; Energy consuming trajectory ; Humanoid robot ; Kicking pattern ; Anthropomorphic robots
  8. Source: 2006 ASME International Design Engineering Technical Conferences and Computers and Information In Engineering Conference, DETC2006, Philadelphia, PA, 10 September 2006 through 13 September 2006 ; Volume 2006 , 2006 ; 079183784X (ISBN); 9780791837849 (ISBN)
  9. URL: https://asmedigitalcollection.asme.org/IDETC-CIE/proceedings-abstract/IDETC-CIE2006/42568/803/318140