NDLI: Roboleg: a robotic soccer-ball kicking leg

Content Provider	IEEE Xplore Digital Library
Author	Schempf, H. Kraeuter, C. Blackwell, M.
Copyright Year	1995
Description	Author affiliation: Carnegie Mellon Univ., Pittsburgh, PA, USA (Schempf, H.)
Abstract	This paper presents the analysis, design and experimental results of a development program for a robotic leg to be used to kick soccer balls to evaluate new shoe and ball designs for the sport of soccer. The motivation is to be seen in the ability to reproduce and vary kicks reliably to allow more accurate evaluation of new shoe and ball designs without the use of extensive human-kick data sets, statistical evaluations and unquantifiable and unknown experimental errors. The leg was designed with a combination of active and spring-assisted actuator modules to allow the leg to transfer momentum to a soccer ball to achieve take-off speeds of up to 40 m/sec. A removable foot allows for testing of various shoes. Preliminary experimental results have shown that the ball can be kicked with enough range and spin to hit inside the upper corners of a goal at a distance of 20 m and a height of 2.5 m with an accuracy of +/- one ball diameter (0.25 m), with a maximum range of 40 m.
Starting Page	1314
Ending Page	1318
File Size	773337
Page Count	5
File Format	PDF
ISBN	0780319656
ISSN	10504729
DOI	10.1109/ROBOT.1995.525462
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1995-05-21
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Leg Footwear Humans Testing Foot Robots Robotics and automation Actuators Mechanical systems
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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