Kicking Motion Planning of Humanoid Robot Based on B-Spline Curves

Chih-Cheng Liu; Yi-Chung Lin; Wei-Fan Lai; Ching-Chang Wong

doi:10.6180/jase.202208_25(4).0007

Kicking Motion Planning of Humanoid Robot Based on B-Spline Curves

Computer Science and Information Engineering

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.

Download Citation: ||https://doi.org/10.6180/jase.202208_25(4).0007

ABSTRACT

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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