Motion generation algorithm considering internal and external impulses for soccer application
- Authors
- Imran, Abid; Yi, Byung ju
- Issue Date
- Jul-2017
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Keywords
- external impulses; gradient projection method; internal impulses; Motion generation; soccer ball kicking
- Citation
- 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017, pp.375 - 379
- Indexed
- SCIE
SCOPUS
- Journal Title
- 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
- Start Page
- 375
- End Page
- 379
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/11580
- DOI
- 10.1109/URAI.2017.7992756
- Abstract
- This paper presents the motion generation algorithm for soccer ball kicking application considering the internal and external impulses. Initially, trends of the internal and external impulses are analyzed by considering 3-DOF and 4-DOF redundant manipulators. Furthermore, gradient projection method is applied to exploit the kinematic redundancy for motion generation by considering the external and internal impulses. A 4-DOF planar model of the human leg is considered for ball kicking application, where large external impulses are required while experiencing less internal impulses at joints. The proposed motion algorithm is verified through simulation. © 2017 IEEE.
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