Repository logo
 
Publication

Ball Sensing in a Leg Like Robotic Kicker

2013Conference object Open access
Simple item page
dc.contributor.authorLogghe, Jonas
dc.contributor.authorDias, André
dc.contributor.authorAlmeida, José Miguel
dc.contributor.authorMartins, Alfredo
dc.contributor.authorSilva, Eduardo
dc.date.accessioned2015-12-22T12:01:14Z
dc.date.available2015-12-22T12:01:14Z
dc.date.issued2013
dc.description.abstractThe trend to have more cooperative play and the increase of game dynamics in Robocup MSL League motivates the improvement of skills for ball passing and reception. Currently the majority of the MSL teams uses ball handling devices with rollers to have more precise kicks but limiting the capability to kick a moving ball without stopping it and grabbing it. This paper addresses the problem to receive and kick a fast moving ball without having to grab it with a roller based ball handling device. Here, the main difficulty is the high latency and low rate of the measurements of the ball sensing systems, based in vision or laser scanner sensors.Our robots use a geared leg coupled to a motor that acts simultaneously as the kicking device and low level ball sensor. This paper proposes a new method to improve the capability for ball sensing in the kicker, by combining high rate measurements from the torque and energy in the motor and angular position of the kicker leg. The developed method endows the kicker device with an effective ball detection ability, validated in several game situations like in an interception to a fast pass or when chasing the ball where the relative speed from robot to ball is low. This can be used to optimize the kick instant or by the embedded kicker control system to absorb the ball energy.pt_PT
dc.identifier.doi10.1007/978-3-642-39250-4_27pt_PT
dc.identifier.urihttp://hdl.handle.net/10400.22/7213
dc.language.isoengpt_PT
dc.publisherSpringerpt_PT
dc.relation.ispartofseriesRoboCup 2012: Robot Soccer World Cup XVI;
dc.relation.publisherversionhttp://link.springer.com/chapter/10.1007%2F978-3-642-39250-4_27pt_PT
dc.subjectMiddle Size Leaguept_PT
dc.subjectBall sensingpt_PT
dc.subjectLeg like Kickerpt_PT
dc.titleBall Sensing in a Leg Like Robotic Kickerpt_PT
dc.typeconference object
dspace.entity.typePublication
oaire.citation.conferencePlaceCidade do México, Méxicopt_PT
oaire.citation.endPage309pt_PT
oaire.citation.startPage298pt_PT
oaire.citation.titleRoboCup'2012 - 16th annual RoboCup International Symposiumpt_PT
person.familyNameMartins
person.familyNameSilva
person.givenNameAlfredo
person.givenNameEduardo
person.identifier.ciencia-id341E-9000-B513
person.identifier.ciencia-idC517-23DA-B09F
person.identifier.orcid0000-0003-3195-5638
person.identifier.orcid0000-0001-7166-3459
person.identifier.ridM-7929-2014
person.identifier.scopus-author-id56234856000
person.identifier.scopus-author-id6507130721
rcaap.rightsclosedAccesspt_PT
rcaap.typeconferenceObjectpt_PT
relation.isAuthorOfPublicationdf7c1e03-5c55-4a79-916a-1ec6d4a63b41
relation.isAuthorOfPublicationd0912771-16c3-4f41-a936-79a714e984fb
relation.isAuthorOfPublication.latestForDiscoverydf7c1e03-5c55-4a79-916a-1ec6d4a63b41

Files

Original bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
Com_JonasLogghe_2013.pdf
Size:
95.84 KB
Format:
Adobe Portable Document Format
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.71 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

ISEP – LSA – Comunicações em eventos científicos