Dynamics of a 9-DoF robotic leg for a football simulator

Vahidi, Masoud; Moosavian, S. Ali A.

doi:10.1109/icrom.2015.7367803

Cited by 4 publications

(4 citation statements)

References 7 publications

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“…The propulsion part (cylinders and motors) of the system weighs 15 kg and its dimensions are W = 65 cm and L = 25 cm and H = 25 cm. Another mechanical system that can be used for propelling a soccer ball is a robotic leg powered by a motor as shown in the kicking from Adidas [9] or as described in [10]. These solutions, using a robotic arm, have multiple degrees of freedom [10] or a set of rotary and linear spring-loaded actuators [9].…”

Section: Comparison Of Existing Soccer Ball Launching Systemsmentioning

confidence: 99%

“…Another mechanical system that can be used for propelling a soccer ball is a robotic leg powered by a motor as shown in the kicking from Adidas [9] or as described in [10]. These solutions, using a robotic arm, have multiple degrees of freedom [10] or a set of rotary and linear spring-loaded actuators [9]. The Adidas solution shown in Figure 6 is composed of a 0.6 m robotic thigh rotating at 85 RPM and 0.6 m shank rotating at a maximum speed of 165 RPM, leading to a maximum ball speed of 21 m•s −1 corresponding to an kinetic energy equal to E K = 100 J.…”

Section: Comparison Of Existing Soccer Ball Launching Systemsmentioning

confidence: 99%

“…These mechanical systems are interesting for simulating a football player leg [9,10] and for training humans in real conditions. However, embedding them in a RoboCup robot is very difficult.…”

Section: Comparison Of Existing Soccer Ball Launching Systemsmentioning

confidence: 99%

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Optimisation of Energy Transfer in Reluctance Coil Guns: Application to Soccer Ball Launchers

et al. 2020

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Reluctance coil guns are electromagnetic launchers having a good ratio of energy transmitted to actuator volume, making them a good choice for propelling objects with a limited actuator space. In this paper, we focus on an application, which is launching real size soccer balls with a size constrained robot. As the size of the actuator cannot be increased, kicking strength can only be improved by enhancing electrical to mechanical energy conversion, compared to existing systems. For this, we propose to modify its inner structure, splitting the coil and the energy storage capacitor into several ones, and triggering the coils successively for propagating the magnetic force in order to improve efficiency. This article first presents a model of reluctance electromagnetic coil guns using a coupled electromagnetic, electrical and mechanical models. Four different coil gun structures are then simulated, concluding that splitting the kicking coil into two half size ones is the best trade-off for optimizing energy transfer, while maintaining an acceptable system complexity and controllability. This optimization results in robust enhancement and leads to an increase by 104 % of the energy conversion compared to a reference launcher used. This result has been validated experimentally on our RoboCup robots. This paper also proves that splitting the coil into a higher number of coils is not an interesting trade-off. Beyond results on the chosen case study, this paper presents an optimization technique based on mixed mechanic, electric and electromagnetic modelling that can be applied to any reluctance coil gun.

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Section: Comparison Of Existing Soccer Ball Launching Systemsmentioning

confidence: 99%

Section: Comparison Of Existing Soccer Ball Launching Systemsmentioning

confidence: 99%

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Optimisation of Energy Transfer in Reluctance Coil Guns: Application to Soccer Ball Launchers

et al. 2020

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“…Se han desarrollado diversas investigaciones para el pateado de un balón basados en el movimiento de una pierna humana, entre ellas podemos mencionar a Roboleg [21], un robot desarrollado para la evaluación de tenis y balones, y el robot de 9DOF (por sus siglas en inglés, Degrees Of Freedom) que utiliza el método Denavit-Hartenberg para el análisis de cinemática y un método recursivo langriano para definir la dinámica [26].…”

Section: Introductionunclassified

Movimientos en pierna robótica para el pateado de un balón a través de reinforcement learning

Delgado¹,

Rosa²,

Santos³

et al. 2019

RCS

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En este trabajo, se presentan los resultados obtenidos del aprendizaje de una pierna robótica para el pateado de un balón. El entrenamiento se realizó por medio de reinforcement learning (RL) utilizando el algoritmo Q-learning. Esto con el objetivo de probar la fiabilidad del aprendizaje para futuros trabajos que involucren caminado de robots cuadrúpedos y manipulación de objetos con actuadores. El entrenamiento fue realizado dentro de un entorno de simulación en Gazebo con la intención de reproducir de forma real el aprendizaje obtenido de la simulación, es decir, que el agente pueda realizar el pateado del balón en una pierna robótica real, a través de un entrenamiento simulado.

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A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots

Marew,

Perera,

et al. 2024

2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)

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Dynamics of a 9-DoF robotic leg for a football simulator

Cited by 4 publications

References 7 publications

Optimisation of Energy Transfer in Reluctance Coil Guns: Application to Soccer Ball Launchers

Optimisation of Energy Transfer in Reluctance Coil Guns: Application to Soccer Ball Launchers

Movimientos en pierna robótica para el pateado de un balón a través de reinforcement learning

A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots

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