ヒューマノイドarXiv:2412.01480
ヒューマノイドロボットのサッカーキックにおける最大力積アプローチ
Maximum Impulse Approach to Soccer Kicking for Humanoid Robots
一定加速度の運動方程式に基づきキックを4段階に分け、ZMP歩行に統合可能な制約考慮型のパラメトリックキック生成法を提案し、シミュレーションと実機NimbRo-OP2Xで検証した。
著者: Grzegorz Ficht, Sven Behnke
分類: cs.RO
原文アブストラクト
We introduce an analytic method for generating a parametric and constraint-aware kick for humanoid robots. The kick is split into four phases with trajectories stemming from equations of motion with constant acceleration. To make the motion execution physically feasible, the kick duration alters the step frequency. The generated kicks seamlessly integrate within a ZMP-based gait, benefitting from the stability provided by the built-in controls. The whole approach has been evaluated in simulation and on a real NimbRo-OP2X humanoid robot.
