Kicking a Ball – Modeling Complex Dynamic Motions for Humanoid Robots

  • Judith Müller
  • Tim Laue
  • Thomas Röfer
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6556)


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.


Humanoid Robot Inverse Kinematic Connection Point Manipulate Variable Bezier Curve 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2011

Authors and Affiliations

  • Judith Müller
    • 1
  • Tim Laue
    • 2
  • Thomas Röfer
    • 2
  1. 1.Fachbereich 3 – Mathematik und InformatikUniversität BremenBremenGermany
  2. 2.Deutsches Forschungszentrum für Künstliche IntelligenzSichere Kognitive SystemeBremenGermany

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