Hybrid Architecture for Kick Motion of Small-sized Humanoid Robot, HanSaRam-VI

Abstract

This paper presents a hybrid architecture designed for the kick motion of a humanoid robot. The principal components of this architecture are vision system, path planner and motion generator. The vision system utilizes captured images for calculating ball and goal positions and simple self-localization using a proposed image preprocessing technique. Based on this information, appropriate path and motion procedures are calculated in the path planner and motion generator embedded within the PDA. As all deliberative decision is made in above three modules, there is temporal independence between deliberative layer and reactive layer of robot control. By virtue of this, all procedures of behavior selection and execution could be done efficiently according to the situation. The performance of the proposed scheme is demonstrated through the kick behavior using small-sized humanoid robot, HSR-VI, developed by RIT lab in KAIST.