HybridArchitecture forKickMotionofSmall-sized HumanoidRobot, HanSaRam-VI

t.ac.kr) Abstract:This paper presents ahybrid architecture designed forthekickmotion ofahumanoid robot. Theprincipal components ofthis architecture arevision system, pathplanner andmotion generator. Thevision system utilizes captured images forcalculating ballandgoalpositions andsimple self-localizatio n usinga proposed image preprocessing technique. Basedonthis information, appropriate pathandmotion procedures arecalculated inthepath planner andmotion generator embedded within thePDA.Asall deliberative decision ismadeinabove three modules, there istemporal independence between deliberative layer andreactive layer ofrobot control. Byvirtue ofthis, all procedures ofbehavior selection andexecution could bedoneefficiently according tothesituation. Theperformance of theproposed scheme isdemonstrated through thekick behavior using small-sized humanoid robot, HSR-VI, developed byRITlabinKAIST.