Title :
On developing a hybrid approach for kick optimization in humanoid robots
Author :
Arif, Muhammad Usman ; Raza, Syed Ali ; Haider, Sajjad
Author_Institution :
Artificial Intell. Lab., Inst. of Bus. Adm., Karachi, Pakistan
Abstract :
The paper presents a hybrid approach for kick optimization in bipedal robots. It designs kicks using two different interpolation techniques, namely Hermite Spline and Bezier curves, and then optimizes their parameters using Particle Swarm Optimization while using inverse kinematics for execution. RoboCup Soccer Simulation 3D has been used as the test bed for the evaluation of the presented approach. The results show Hermite cubic spline to be a better interpolation scheme for this particular problem.
Keywords :
humanoid robots; interpolation; kinematics; legged locomotion; particle swarm optimisation; splines (mathematics); sport; Bezier curve; Hermite spline; RoboCup Soccer Simulation 3D; bipedal robot; humanoid robot; hybrid approach; interpolation technique; inverse kinematics; kick optimization; particle swarm optimization; Humanoid robots; Interpolation; Kinematics; Optimization; Splines (mathematics); Trajectory;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2014 IEEE International Conference on
DOI :
10.1109/ROBIO.2014.7090548
