Dynamically Stable Walking and Kicking Gait Planning for Humanoid Soccer Robots

  • Changjiu Zhou
  • Pik Kong Yue
  • Jun Ni
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3276)


Humanoid dynamic walk and kick are two main technical challenges for the current Humanoid League. In this paper, we conduct a research aiming at generating dynamically stable walking and kicking gait for humanoid soccer robots with consideration of different constraints. Two methods are presented. One is synthesizing gait based on constraint equations, which has formulated gait synthesis as an optimization problem with consideration of some constraints, e.g. zero-moment point (ZMP) constraints for dynamically stable locomotion, internal forces constraints for smooth transition, geometric constraints for walking on an uneven floor and etc. The other is generating feasible gait based on human kicking motion capture data (HKMCD), which uses periodic joint motion corrections at selected joints to approximately match the desired ZMP trajectory. The effectiveness of the proposed dynamically stable gait planning approach for humanoid walking on a sloping surface and humanoid kicking on an even floor has been successfully tested on our newly developed Robo-Erectus humanoid soccer robots, which won second place in the RoboCup 2002 Humanoid Walk competition and got first place in the RoboCup 2003 Humanoid Free Performance competition.


Humanoid Robot Biped Robot Zero Moment Point Stable Gait Double Support Phasis 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Changjiu Zhou
    • 1
  • Pik Kong Yue
    • 1
  • Jun Ni
    • 1
  1. 1.School of Electrical and Electronic EngineeringSingapore PolytechnicSingapore

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