Abstract
Incorporating a dynamic kick engine that is both fast and effective is pivotal to be competitive in one of the world’s biggest AI and robotics initiative: RoboCup. Using the NAO robot as a testbed, we developed a dynamic kick engine that can generate a kick trajectory with an arbitrary direction without prior input or knowledge of the parameters of the kick. The trajectories are generated using cubic splines (two degree three polynomials with a via-point). The trajectories are executed while the robot is dynamically balancing on one foot. When the robot swings the leg for the kick motion, unprecedented forces might be applied on the robot. To compensate for these forces, we developed a Zero Moment Point (ZMP) based preview controller that minimizes the ZMP error. Although a variety of kick engines have been implemented by others, there are only a few papers on how kick engine parameters have been optimized to give an effective kick or even a kick that minimizes energy consumption and time. Parameters such as kick configuration, limit of the robot, or shape of the polynomial can be optimized. We propose an optimization framework based on the Webots simulator to optimize these parameters. Experiments of the physical robot show promising results.
| Original language | English (US) |
|---|---|
| Title of host publication | RoboCup 2017 |
| Subtitle of host publication | Robot World Cup XXI |
| Editors | Hidehisa Akiyama, Oliver Obst, Claude Sammut, Flavio Tonidandel |
| Publisher | Springer Verlag |
| Pages | 385-397 |
| Number of pages | 13 |
| ISBN (Print) | 9783030003074 |
| DOIs | |
| State | Published - Jan 1 2018 |
| Event | 21st RoboCup International Symposium, 2017 - Nagoya, Japan Duration: Jul 27 2017 → Jul 31 2017 |
Publication series
| Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
|---|---|
| Volume | 11175 LNAI |
| ISSN (Print) | 0302-9743 |
| ISSN (Electronic) | 1611-3349 |
Other
| Other | 21st RoboCup International Symposium, 2017 |
|---|---|
| Country | Japan |
| City | Nagoya |
| Period | 7/27/17 → 7/31/17 |
Fingerprint
ASJC Scopus subject areas
- Theoretical Computer Science
- Computer Science(all)
Cite this
An omni-directional kick engine for humanoid robots with parameter optimization. / Pena, Pedro; Masterjohn, Joseph; Visser, Ubbo E.
RoboCup 2017: Robot World Cup XXI. ed. / Hidehisa Akiyama; Oliver Obst; Claude Sammut; Flavio Tonidandel. Springer Verlag, 2018. p. 385-397 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11175 LNAI).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - An omni-directional kick engine for humanoid robots with parameter optimization
AU - Pena, Pedro
AU - Masterjohn, Joseph
AU - Visser, Ubbo E
PY - 2018/1/1
Y1 - 2018/1/1
N2 - Incorporating a dynamic kick engine that is both fast and effective is pivotal to be competitive in one of the world’s biggest AI and robotics initiative: RoboCup. Using the NAO robot as a testbed, we developed a dynamic kick engine that can generate a kick trajectory with an arbitrary direction without prior input or knowledge of the parameters of the kick. The trajectories are generated using cubic splines (two degree three polynomials with a via-point). The trajectories are executed while the robot is dynamically balancing on one foot. When the robot swings the leg for the kick motion, unprecedented forces might be applied on the robot. To compensate for these forces, we developed a Zero Moment Point (ZMP) based preview controller that minimizes the ZMP error. Although a variety of kick engines have been implemented by others, there are only a few papers on how kick engine parameters have been optimized to give an effective kick or even a kick that minimizes energy consumption and time. Parameters such as kick configuration, limit of the robot, or shape of the polynomial can be optimized. We propose an optimization framework based on the Webots simulator to optimize these parameters. Experiments of the physical robot show promising results.
AB - Incorporating a dynamic kick engine that is both fast and effective is pivotal to be competitive in one of the world’s biggest AI and robotics initiative: RoboCup. Using the NAO robot as a testbed, we developed a dynamic kick engine that can generate a kick trajectory with an arbitrary direction without prior input or knowledge of the parameters of the kick. The trajectories are generated using cubic splines (two degree three polynomials with a via-point). The trajectories are executed while the robot is dynamically balancing on one foot. When the robot swings the leg for the kick motion, unprecedented forces might be applied on the robot. To compensate for these forces, we developed a Zero Moment Point (ZMP) based preview controller that minimizes the ZMP error. Although a variety of kick engines have been implemented by others, there are only a few papers on how kick engine parameters have been optimized to give an effective kick or even a kick that minimizes energy consumption and time. Parameters such as kick configuration, limit of the robot, or shape of the polynomial can be optimized. We propose an optimization framework based on the Webots simulator to optimize these parameters. Experiments of the physical robot show promising results.
UR - http://www.scopus.com/inward/record.url?scp=85053936482&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85053936482&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-00308-1_32
DO - 10.1007/978-3-030-00308-1_32
M3 - Conference contribution
SN - 9783030003074
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 385
EP - 397
BT - RoboCup 2017
A2 - Akiyama, Hidehisa
A2 - Obst, Oliver
A2 - Sammut, Claude
A2 - Tonidandel, Flavio
PB - Springer Verlag
ER -