On developing a hybrid approach for kick optimization in humanoid robots

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Document Type

Conference Paper

Publication Date


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


84949928284 (Scopus)

First Page



Institute of Electrical and Electronics Engineers (IEEE)

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.

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