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    题名: Kicking Motion Planning of Humanoid Robot Based on B-Spline Curves
    作者: Liu, Chih-Cheng;Lin, Yi-Chung;Lai, Wei-Fan;Wong, Ching-Chang
    关键词: Humanoid Robot;Kicking;Trajectory Planning;B-Spline Curve
    日期: 2021-11
    上传时间: 2022-06-02 12:11:22 (UTC+8)
    摘要: 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.
    關聯: Journal of Applied Science and Engineering 25(4), p.623-631
    DOI: 10.6180/jase.202208_25(4).0007
    显示于类别:[電機工程學系暨研究所] 期刊論文

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