2P1-J19 人間のキック動作の解析に基づくキック機構の動作制御(ロボカップ・ロボットコンテスト)

概要

論文の詳細を見る
We are making research on a kicking mechanism that can kick a ball like a professional soccer player. We measured human kicking motion by using high speed camera as well as electromyograph sensors and analyzed the motion of knee and ankle. Based on the modeling as a two-link mechanism, we decided the design parameters for the control of the kicking mechanism, and manufactured a first prototype kicking machine. Next, we simulated human kicking motion using MATLAB/Simulink, then we made some real kicking experiments using the same motion algorithm. Currently, the maximum kicking speed is set below the desired value so that the kicking impact force may not damage to the mechanism. We show these design considerations of this first prototype of kicking machine in this report.
2008-06-06