教師資料查詢 | 類別: 期刊論文 | 教師: 翁慶昌WONG CHING-CHANG (瀏覽個人網頁)

標題:Kicking Motion Planning of Humanoid Robot Based on B-Spline Curves
學年110
學期1
出版(發表)日期2021/11/01
作品名稱Kicking Motion Planning of Humanoid Robot Based on B-Spline Curves
作品名稱(其他語言)
著者Chih-Cheng Liu; Yi-Chung Lin; Wei-Fan Lai; Ching-Chang Wong
單位
出版者
著錄名稱、卷期、頁數Journal of Applied Science and Engineering 25(4), p.623-631
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.
關鍵字Humanoid Robot;Kicking;Trajectory Planning;B-Spline Curve
語言英文(美國)
ISSN2708-9967
期刊性質國外
收錄於ESCI;
產學合作
通訊作者
審稿制度
國別中華民國
公開徵稿
出版型式,電子版
相關連結
SDGs
  • 優質教育,產業創新與基礎設施
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