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Updated: Jun 11, 2025

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Motion Planning for a Legged Robot with Dynamic Characteristics.

Xu Liu1, Limin Yang1, Zhijun Chen1

  • 1State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.

Sensors (Basel, Switzerland)
|September 28, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces a novel motion planner for legged soccer robots, enabling dynamic dribbling and shooting without stopping. The system uses a rolling model for ball prediction and an optimization-based cycle planner for continuous gait adjustment.

Keywords:
dynamic soccer skillgait schedulergait-cycle planningleg controllerlegged soccer robotmotion planning

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Control Systems

Background:

  • Legged soccer robots face challenges integrating perception, manipulation, and dynamic movement.
  • Existing methods often rely on external perception or static approaches, limiting robot capabilities.

Purpose of the Study:

  • To develop a dynamic and untethered legged robot for soccer.
  • To enable advanced capabilities like dynamic shooting and dribbling.

Main Methods:

  • A motion planner integrating perception, a rolling model for ball prediction, and an optimization-based cycle planner.
  • A gait scheduler assigning roles to each leg (stance, swing, pre-kick, kick).
  • Tailored leg controllers for tiptoe trajectory planning and control.

Main Results:

  • Successful real-world penalty shot experiments (5/12).
  • High success rate in cycle adjustment tests (11/12).
  • Demonstrated dynamic dribbling capabilities.

Conclusions:

  • Legged robots can overcome onboard limitations for dynamic mobility and manipulation.
  • The proposed motion planner enhances soccer robot performance significantly.