On developing a hybrid approach for kick optimization in humanoid robots

Author

Muhammad Usman Arif, Institute of Business Administration Karachi
Syed Ali Raza, University of Technology Sydney
Sajjad Haider, Institute of Business Administration Karachi

Was this content written or created while at IBA?

Yes

Document Type

Conference Paper

Publication Date

4-20-2014

Author Affiliation

• Muhammad Usman Arif is PhD Scholar at the Department of Computer Science, Institute of Business Administration, Karachi
• Sajjad Haider is Professor at Institute of Business Administration, Karachi

Conference Name

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

Conference Location

Bali, Indonesia

Conference Dates

5-10 December 2014

ISBN/ISSN

84949928284 (Scopus)

First Page

1512

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Keywords

Interpolation, Optimization, Kinematics, Splines (mathematics), Trajectory, Humanoid robots

Abstract / Description

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.

DOI

https://doi.org/10.1109/ROBIO.2014.7090548

Recommended Citation

Arif, M. U., Raza, S. A., & Haider, S. (2014). On developing a hybrid approach for kick optimization in humanoid robots., 1512. https://doi.org/10.1109/ROBIO.2014.7090548