Like Playing a Video Game: Spatial-Temporal Optimization of Foot Trajectories for Controlled Football Kicking in Bipedal Robots

Description

Humanoid robot soccer presents several challenges, particularly in maintaining system stability during aggressive kicking motions while achieving precise ball trajectory control. Current solutions, whether traditional position-based control methods or reinforcement learning (RL) approaches, exhibit significant limitations. Model predictive control (MPC) is a prevalent approach for ordinary quadruped and biped robots. While MPC has demonstrated advantages in legged robots, existing studies often

Source