Fix our kick motion - Githubissues

bit-bots / bitbots_main

This git contains all RoboCup code from the Hamburg Bit-Bots.

https://bit-bots.de

MIT License

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Fix our kick motion #316

Closed texhnolyze closed 3 weeks ago

texhnolyze commented 1 year ago

If we end up having time before the RoboCup we want to fix our current kick. While it works ok in simulation in reality we fall over and often do not hit the ball. Ideas to improve are:

change assumptions about splines (order, number, etc.)
potentially reduce the complexity of the current approach while also increasing the speed of the full motion
improve active stabilisation
improve current parameters

00lake00 commented 1 year ago

TODO (Good2Know) videos zu splines (Freya Holmér) https://www.youtube.com/watch?v=jvPPXbo87ds

Seminarbericht/Paper

Developing a Reactive and Dynamic Kicking Engine for Humanoid Robots
(Bipedal Walking on Humanoid Robots)

Code in bitbots_motion/bitbots_dynamic_kick

jaagut commented 10 months ago

Wait for the walk kick feature... We currently plan to use the kick motion only for penalty shoots.

timonegk commented 2 months ago

We don't want to use the dynamic kick in the near future