Long range kick for RoboCup3D — A practical approach

Research on implementations of long range kick is a new trend coming up in RoboCup Soccer Simulation 3D competitions. Competition results show that, a team has more chance to defeat its opponent by applying long range kicks/shoots in both regular stage and penalty stage. This paper mainly proposes an approach that our team Apollo3D designed, to implementing a long range kick by adopting a spline interpolation method to generate kicking trajectories and a developed CMA-ES method to optimize parameters. In order to stabilize a robot when executing kicking, a preview controller is utilized to control the torso for keeping balance. After a number of tests, the average distance that a robot could send the ball to is increased by 74%.