We introduce an analytic method for generating a parametric and constraint-aware kick for humanoid robots. The kick is split into four phases with trajectories stemming from equations of motion with constant acceleration. To make the motion execution physically feasible, the kick duration alters the step frequency. The generated kicks seamlessly integrate within a ZMP-based gait, benefitting from the stability provided by the built-in controls. The whole approach has been evaluated in simulation and on a real NimbRo-OP2X humanoid robot.

翻译：本文提出了一种用于生成参数化且满足约束条件的人形机器人踢球动作的解析方法。该踢球动作被分解为四个阶段，各阶段的轨迹源自恒定加速度运动方程。为确保动作执行的物理可行性，踢球持续时间会改变步态频率。生成的踢球动作能够无缝集成于基于零力矩点（ZMP）的步态中，受益于内置控制提供的稳定性。整套方法已在仿真环境和真实的NimbRo-OP2X人形机器人上进行了验证。