Motion generation algorithm considering internal and external impulses for soccer application

Abstract

This paper presents the motion generation algorithm for soccer ball kicking application considering the internal and external impulses. Initially, trends of the internal and external impulses are analyzed by considering 3-DOF and 4-DOF redundant manipulators. Furthermore, gradient projection method is applied to exploit the kinematic redundancy for motion generation by considering the external and internal impulses. A 4-DOF planar model of the human leg is considered for ball kicking application, where large external impulses are required while experiencing less internal impulses at joints. The proposed motion algorithm is verified through simulation.