Joint trajectory generation of humanoid robot's front kick

Abstract

This paper proposes a new approach to generate joint trajectories of a humanoid robot for kicking forward, which is one of the basic motions in Taekwondo. This type of motion generation is regarded difficult because of high dimensional complexities under the Denavit-Hartenberg kinematic convention especially in case of the humanoid robot. However, the projection based kinematics enables us to intuitively schedule trajectories of joint motors by mimicking human's kicking motion. The forward kick is divided into three postures with corresponding joint motor angles, and the motor trajectories are generated to pass them, to maximize kicking power, and to maintain standing stability. This is carried out by computer simulation, which will be realized with a small humanoid robot.