Chih-Cheng Liu This email address is being protected from spambots. You need JavaScript enabled to view it., Yi-Chung Lin1, Wei-Fan Lai1, and Ching-Chang Wong1

1Department of Electrical and Computer Engineering, Tamkang University Tamsui Distinct, New Taipei City, Taiwan


Received: May 6, 2021
Accepted: October 3, 2021
Publication Date: November 1, 2021

 Copyright The Author(s). This is an open access article distributed under the terms of the Creative Commons Attribution License (CC BY 4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are cited.

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Effective and powerful kicking motion is a key prerequisite for humanoid robots to play robot soccer. However, kicking motion is a complex motion. This paper presents a kicking motion planning of humanoid robot that utilizes curve trajectory planning in order to reduce the time and instability of manual adjustment. According to the swing of the kicking foot, the whole kicking motion is divided into 5 states. The trajectory of kicking foot in different states is planned using B-Spline curve. Then, the proposed method of kicking motion planning is implemented on a homemade humanoid robot. The experiments show wider range and greater distance of kicking ball of kicking motion planning.

Keywords: Humanoid Robot, Kicking, Trajectory Planning, B-Spline Curve


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