Adaptive Walk-Kick on a Bipedal Robot

Pedro Peña, Ubbo Visser

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Using the NAO robot as a testbed, we propose a walk-kick framework that can generate a kick trajectory with an arbitrary direction without prior input or knowledge of the parameters of the kick in the midst of walking while still guaranteeing reaching a reference trajectory. The walk-kick uses kick interpolators from a dynamic kick engine and the walk trajectories generated from adaptive walking engine to generate motions in any direction that allow a robot to reach its destination while also allowing it to move the ball in further distances without transitioning in different states to accommodate both tasks. The system has been extensively tested on the physical robot, taking into account ten different target angles. The stability and reliability of each kick has been evaluated 30 times for each kick motion trajectory while performing demanding motions. Results show that our proposed walk-kick framework and its integration is reliable in terms of the kick directions and stability of the robot overall (<1% falling rate), and our experiments verify that the walk-kick trajectories were consistent with an average absolute bearing of <6$$^\circ $$ within any given direction.

Original languageEnglish (US)
Title of host publicationRoboCup 2019
Subtitle of host publicationRobot World Cup XXIII
EditorsStephan Chalup, Tim Niemueller, Jackrit Suthakorn, Mary-Anne Williams
Number of pages14
ISBN (Print)9783030356989
StatePublished - 2019
Event23rd Annual RoboCup International Symposium, RoboCup 2019 - Sydney, Australia
Duration: Jul 2 2019Jul 8 2019

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11531 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference23rd Annual RoboCup International Symposium, RoboCup 2019


  • Dynamic kick
  • Dynamic walking
  • Humanoid robots

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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