Implementation of direct pass strategy during moving ball for “T-FLoW” Humanoid Robot

2017 2nd International conferences on Information Technology, Information Systems and Electrical Engineering (ICITISEE) Pub Date : 2017-11-01 DOI:10.1109/ICITISEE.2017.8285500

R. D. Pristovani, Ajir, B. E. Henfri, K. A. Subhan, D. Sanggar, Pramadihanto. Dadet

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引用次数: 2

Abstract

EEPIS Robotics Research Center (ER2C) has been built a humanoid robot and the name is “T-FLoW” humanoid robot. This Humanoid robot is used to solve the problem in the direct pass during moving ball in the technical challenge RoboCup Competition. This paper will explain about the implementation of direct pass strategy during moving the ball into “T-FloW” humanoid robot. Direct pass strategy is splitting into 3 step. The first step is how to calculate and predict the position, speed, and acceleration during ball movement by using camera vision strategy. The second step is how to doing kick motion when the ball is approaching the foot based on the position, speed, and acceleration from the first step. The third step is the main strategy to combine the first and second step. Based on the experiment result, the success to pass the ball is 80%. The kicking locomotion is not fast enough. Perhaps in next research, the kicking locomotion will be made with fully efficient and faster than before.

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“T-FLoW”类人机器人移动球时直接传球策略的实现

EEPIS机器人研究中心(ER2C)已经建成了一个人形机器人，命名为“T-FLoW”人形机器人。该仿人机器人用于解决机器人世界杯技术挑战赛中移动球时的直传问题。本文将阐述在向“T-FloW”类人机器人移动球时直接传球策略的实现。直传策略分为三步。第一步是如何计算和预测球在运动过程中的位置、速度和加速度，利用相机视觉策略。第二步是根据第一步的位置、速度和加速度，当球接近脚时，如何做踢腿动作。第三步是将第一步和第二步结合起来的主要策略。根据实验结果，传球成功率为80%。踢腿动作不够快。也许在下一步的研究中，踢腿运动将比以前更加高效和快速。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2017 2nd International conferences on Information Technology, Information Systems and Electrical Engineering (ICITISEE)

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