Action Design of Lobbing Ball for Humanoid Robot Soccer

Robot soccer is a classic research direction in the field of robotics. From the appearance of soccer robot, it is mainly divided into wheeled robot and humanoid robot. At present, humanoid robots and small group wheeled robots mainly compete on two-dimensional plane. Because of the small competitive dimension, the offensive and defensive tactics tend to be simple. In order to enhance the competitiveness and appreciation of humanoid. And complex motion devices based on human motion capture data (HMCD) are designed Human simulation has gradually become one of the effective means of robot design. In order to enhance the competitiveness and appreciation of humanoid, this paper innovatively designs a set of consistent kicking actions based on darwin-op2 robot, combined with HMCD method, realizes the effect of actively lobbing ball. Ideally, the robot can basically kick the ball above 35cm. Besides the robot can basically kick the ball above 30cm in practice, and the success rate is as high as 75%. It improves the competitiveness from two-dimensional to three-dimensional, which provides new ideas and schemes for attack and defense tactics and expands the dimension of competition. It also provides a new direction for the development of humanoid robot football in the future.