用物理约束生成人形机器人踢球动作，稳定且可实现实时控制。
Maximum Impulse Approach to Soccer Kicking for Humanoid Robots
- 分四阶段建模，基于恒定加速度运动方程生成轨迹。
- 调整踢球时长以匹配步频，确保动作物理可行。
- 兼容ZMP步态，适合真实人形机器人部署。
我们提出一种解析方法，用于生成参数化且满足约束的人形机器人踢球动作。该踢球动作分为四个阶段，各阶段轨迹由具有恒定加速度的运动方程推导得出。为保证动作执行的物理可行性，通过调节踢球时长来适配步频。生成的踢球动作可无缝集成到基于ZMP的步态中，利用内置控制器提供的稳定性优势。该方法在仿真环境和真实的NimbRo-OP2X人形机器人上进行了验证。
原文摘要 · Abstract (English)
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.
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