Abstract
This paper presents the closed solution of the kinematic modeling of humanoid soccer–player robot: the BIOLOID Premium Type A. The kinematic modeling considers the Denavit–Hartenberg geometric parameters, the homogeneous transformation matrix to represent the position and orientation of the supporting foot and the walking foot and, the Chace methodology to obtain the inverse kinematic model of position. The Chace methodology used for the solution of the inverse kinematic model of position was developed by one of the authors. By simulation results in Matlab, it is shown that the methodology used to obtain the kinematic equations provides a reliable solution according to a desired task. So that, in a future, the authors can use these equations to get an improved performance of the gait cycle for the humanoid soccer–player.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Jazar, R.N.: Theory of Applied Robotics: Kinematics, Dynamics and Control. Springer, USA (2007)
Geppert, L.: Qrio, the robot that could. IEEE Spectrum 41(5), 34–37 (2004)
Hiraki, K., Hirose, M., Haikawa, Y., Takenaka, T.: The development of Honda Humanoid Robot. In: IEEE ICRA, Leuven, Belgium, pp. 1321–1326 (1998)
Hirose, M., Haikawa, Y., Takenaka, T., Hiraki, K.: Development of humanoid robot ASIMO. In: Workshop on Exploration towards Humanoid Robot Applications at IROS, Hawai, USA (2001)
Yamasaki, F., Matsui, T., Miyashita, T., Kitano, H.: PINO the humanoid: A basic architecture. In: Stone, P., Balch, T., Kraetzschmar, G.K. (eds.) RoboCup 2000. LNCS (LNAI), vol. 2019, pp. 269–278. Springer, Heidelberg (2001)
Akachi, K., Kaneko, K., Kanehira, N., Ota, S., Miyamori, M., Hirata, M., Kajita, S., Kanaheiro, K.: Development of humanoid robot HRP–3P. In: 5th IEEE–RAS International Conference on Humanoid Robots, Tsukuba, Japan, pp. 50–55 (2005)
Sandini, G., Metta, G., Veron, D.: Robotcub: An open framework for research in embodied cognition. International Journal of Humanoid Robotics 8(2), 13–32 (2004)
Beira, R., Lopez, M., Praca, M., Santos–Victor, J., Bernardino, A., Metta, G., Becchi, F., Saltaren, R.: Design of the Robot–Cub (iCub) Head. In: IEEE ICRA, Orlando, FL, pp. 94–100 (2006)
Ruesch, J., Lopez, M., Bernardino, A., Hornstein, J., Santos–Victor, J., Pfeifer, R.: Multimodal Saliency–based bottom–up attention: A framework for the humanoid robot iCub. In: IEEE ICRA, Pasadena, CA, pp. 962–967 (2008)
Pamanes, J.A., Murillo, O.F., Santos-Victor, J., Zeghloul, S.: Analisis de los movimientos del cuello y los ojos del robot iCub basados en velocidades articulares de minima norma. In: 10th Mexican Congress on Robotics, Mexico (2008)
Castelfranchi, Y., Stock, O.: Maquinas como nosotros: El desafio de la inteligencia artificial. Acento Editorial, Madrid (2002)
Behnke, S., Schreiber, M., Stuckler, J., Renner, R., Strasdat, H.: See, walk, and kick: Humanoid robots start to play soccer, In: 6th IEEE–RAS International Conference on Humanoids Robots, Genova, Italy, pp. 497–503 (2006)
Robocup, http://www.robocup.org/about-robocup
FIRA, http://www.fira.net/
Fukuda, T., Komata, Y., Arakawa, T.: Stabilization Control of Biped Locomotion robot based Learning with Gas having Self–adaptive Mutation and Recurrent Neural Networks. In: IEEE ICRA, Alburqueque, NM, pp. 217–221 (1997)
McGeer, T.: Passive dynamic walking. International Journal of Robotic Research 9(6), 62–82 (1990)
Rostami, M., Bessonet, G.: Impactless Sagittal Gait of a Biped Robot during teh Simple Support Phase. In: IEEE ICRA, Leuven, Belgium, pp. 1385–1391 (1998)
Chavallereau, C., Sardin, P.: Design and actuation optimization of a 4 axes biped robot for walking and running. In: IEEE ICRA, San Francisco, CA, pp. 3365–3370 (2000)
Teviata, G., Schaal, S.: Inverse kinematics for humanoid robots. In: IEEE ICRA, San Francisco, CA, pp. 294–299 (2000)
Alvarez, F.E.: Modelo dinamico de un robot bipedo: Aplicacion al diseño de sus mecanismos y al analisis de la marcha. Master degree Thesis, Instituto Tecnologico de la Laguna, MEXICO (2002)
Cisneros, R.L.: Estrategias de modelado cinematico y simulacion en robots humanoides. Master degree Thesis, Centro de Investigación y Estudios Avanzados del IPN, MEXICO (2009)
Denavit, J., Hartenberg, R.S.: A kinematic notation for lower–pair mechanisms based on matrices. ASME Journal of Applied Mechanics 22, 215–221 (1955)
Khalil, W., Kleinfinger, J.: A new geometric notation for open and closed–loop robots. In: IEEE Conference on Robotics and Automation, vol. 3, pp. 1174–1179 (1986)
Lallemand, J.P., Zeghloul, S.: Robotique: Aspects Fundamentaux. Masson, Paris (1994)
Gorla, B., Renaud, M.: Modeles des robots manipulateurs: Application a leur commande. Cepadues, Toulouse (1986)
Angeles, J.: Fundamentals of robotic mechanical systems: Theory, methods and algorithms. Springer, USA (2007)
Paul, R.P.: Robot manipulators: Mathematics, programming and control. MIT Press, USA (1981)
Siciliano, B., Khatib, O.: Handbook of Robotics. Springer, Berlin (2008)
Gorla, B., Renaud, M.: Modeles des robots manipulateurs: Application a leur commande. Cepadues, Tolouse (1984)
Siciliano, B., Sciavicco, L.: Robotics, Modelling, Planning and Control. Springer, London (2010)
Khalil, W.: SYMORO: Symbolic Modelling of Robots. User Guide. École Nationale Supériore de Mécanique, Center de la Recherche Scientifique, France (1995)
Pamanes, J.A.: Estudio teorico y experimental de la marcha del robot humanoide Bioloid basada en leyes de movimiento cicloidal. Technical report, Universidad Autonoma de Coahuila, Mexico (2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Cerritos-Jasso, J.R., Camarillo-Gómez, K.A., Monsiváis-Medina, J.A., Castillo-Alfaro, G., Pérez-Soto, G.I., Pámanes-García, J.A. (2013). Kinematic Modeling of a Humanoid Soccer–Player: Applied to BIOLOID Premium Type A Robot. In: Omar, K., et al. Intelligent Robotics Systems: Inspiring the NEXT. FIRA 2013. Communications in Computer and Information Science, vol 376. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40409-2_5
Download citation
DOI: https://doi.org/10.1007/978-3-642-40409-2_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-40408-5
Online ISBN: 978-3-642-40409-2
eBook Packages: Computer ScienceComputer Science (R0)