Dynamic Stability Analyses Based on ZMP of a Wheel-based Humanoid Robot

2006 ◽  
Author(s):  
Yanjie Li ◽  
Dalong Tan ◽  
Zhenwei Wu ◽  
Hua Zhong ◽  
Di Zu
Keyword(s):  
Dynamic Stability ◽  
Humanoid Robot ◽  
Stability Analyses

Impulsive Pedipulation of a Spherical Object with 3D Goal Position by a Humanoid Robot: A 3D Targeted Kicking Motion Generator

2016 ◽  
Vol 13 (02) ◽  
pp. 1650003 ◽  
Author(s):  
Rafael Cisneros ◽  
Kazuhito Yokoi ◽  
Eiichi Yoshida
Keyword(s):  
Dynamic Stability ◽  
Humanoid Robot ◽  
Experimental Results ◽  
Impulsive Force ◽  
Spherical Object ◽  
Motion Characteristics ◽  
Algorithm Implementation ◽  
Motion Generator

This paper describes an algorithm that enables a humanoid robot to perform an impulsive pedipulation task on a spherical object in the environment; that is, by using its feet to exert an impulsive force capable of driving the object to a 3D goal position while achieving certain motion characteristics. This is done by planning a suitable motion for the legs of the humanoid, capable to exert the required impact conditions on the spherical object while maintaining the dynamic stability of the robot. As an example of this algorithm implementation we consider the free kick in soccer and take it as a case study. Finally, we provide some simulation and experimental results that intend to show the validity of this algorithm.

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