| 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 | en_US |
| ISSN | 2708-9967 |
| 期刊性質 | 國外 |
| 收錄於 | ESCI |
| 產學合作 | |
| 通訊作者 | |
| 審稿制度 | 是 |
| 國別 | TWN |
| 公開徵稿 | |
| 出版型式 | ,電子版 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/122726 ) |
| SDGS | 優質教育,產業創新與基礎設施 |
GoogleAnalytics