Impact Analysis for Kicking Motion of a Humanoid Robot
- Title
- Impact Analysis for Kicking Motion of a Humanoid Robot
- Author
- 이병주
- Keywords
- Human gait motion; Impact; Soccer; Trajectory planning
- Issue Date
- 2002-10
- Publisher
- 제어로봇시스템학회
- Citation
- ICCAS 2002, page. 153-157
- Abstract
- Usual human gait can be modeled as continual impact phenomenon that happens due to the topological change of the
kinematic structure of the two feet. Human-being adapts his own control algorithm to minimize the ill-effect due to the collision
with the environment. In order to operate a Humanoid robot like the Human-being, it is necessary to understand the physics of the
impact and to derive an analytical model of the impact. In this paper, specially, we focus on impact analysis of the kicking motion
in playing soccer. At the instant of impact, the external impulse exerted on the ball as well as the internal impulse experienced at
the joints of the human-body are important properties in human body. Initially, we introduce the complete impulse models of
lower-extremity model and analyze the impulses for several kicking postures of the lower-extremity. Secondly, a trajectory
planning algorithm of a ball, in which the initial velocity of the ball is calculated for a desired trajectory of the ball, will be
introduced. Aerodynamic effect such as drag force and lift force is also considered. We carry out numerical simulation to verify the
effectiveness of the proposed analytical methodology.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE02013358https://repository.hanyang.ac.kr/handle/20.500.11754/157696
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML