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

摘要

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.