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documentation/align.tex
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\section{Goal Alignment} \section{Goal Alignment}
\label{p sec goal align}
After the approach, described in the section \ref{p sec approach}, is finished, After the approach, described in the section \ref{p sec approach}, is finished,
the robot is facing the ball, and the ball is at a short distance. In the stage the robot is facing the ball, and the ball is at a short distance. In the stage

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documentation/approach.tex
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\subsection*{Approach from the Side} \subsection*{Approach from the Side}
The first possibility is that in the approach planing stage, described in the The first possibility is that in the approach planning stage, described in the
section \ref{j sec approach planing}, the decision was taken to approach the section \ref{j sec approach planning}, the decision was taken to approach the
ball from the side. In this case the robot will walk the calculated distance in ball from the side. In this case the robot will walk the calculated distance in
the calculated direction. Normally, after the movement the robot should lose the calculated direction. Normally, after the movement the robot should lose
the sight of the ball. However, the approximate angle, where the ball should be the sight of the ball. However, the approximate angle, where the ball should be

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documentation/conclusion.tex
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@@ -16,18 +16,18 @@ goal in the camera image.
Another important achievement is the overall system robustness. In our tests Another important achievement is the overall system robustness. In our tests
the robot could successfully reach the ball, do the necessary alignments and the robot could successfully reach the ball, do the necessary alignments and
kick the ball. When the robot decided that he should kick the ball, in the kick the ball. When the robot decided that it should kick the ball, in the
majority of cases the kick was successful and the ball reached the target. We majority of cases the kick was successful and the ball reached the target. We
performed these tests from many starting positions and assuming a variety of performed these tests from many starting positions and assuming a variety of
different relative positions of the ball and the goal. different relative positions of the ball and the goal.
Furthermore, we managed not only to make the whole approach robust, but also Furthermore, we managed not only to make the whole approach robust, but also
worked on making the procedure fast, and the approach planing was a crucial worked on making the procedure fast, and the approach planning was a crucial
element of this. In the project's early stages, the robot couldn't approach the element of this. In the project's early stages, the robot couldn't approach the
ball from the side, depending on the goal position, and instead always walked ball from the side, depending on the goal position, and instead always walked
towards the ball directly and aligned to the goal afterwards. The tests have towards the ball directly and aligned to the goal afterwards. The tests have
shown, that in such configuration the goal alignment was actually the longest shown, that in such configuration the goal alignment was actually the longest
phase and could take over a minute. Then we introduced the approach planing, phase and could take over a minute. Then we introduced the approach planning,
and as a result the goal alignment stage could in many scenarios be completely and as a result the goal alignment stage could in many scenarios be completely
eliminated, which was greatly beneficial for the execution times. Finally, eliminated, which was greatly beneficial for the execution times. Finally,
thanks to the strong kick, the goal can be scored from a large range of thanks to the strong kick, the goal can be scored from a large range of
@@ -41,7 +41,7 @@ for improvement. Some of the most interesting topics for future work will now
presented. presented.
The first important topic is \textit{self-localization}. Currently our robot is The first important topic is \textit{self-localization}. Currently our robot is
completely unaware of his position on the field, but if such information could completely unaware of its position on the field, but if such information could
be obtained, then it could be leveraged to make path planning more effective be obtained, then it could be leveraged to make path planning more effective
and precise. and precise.

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documentation/jonas.tex
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@@ -1,152 +1,258 @@
\section{Turning to Ball} \section{Turning to Ball}
\label{j sec turning to ball} \label{j sec turning to ball}
The task which we try to accomplish here is to bring the robot in a position, so that he is looking straight at the ball.
The robot should be able to find the ball anywhere on the field and rotate itself so that it will focus the ball. \\ The task which we try to accomplish here is to bring the robot in a position,
The algorithm which we implemented to solve this problem can be found in figure \ref{j figure turn to ball}. so that it is looking straight at the ball. The robot should be able to find
the ball anywhere on the field and rotate itself so that it will focus on the
ball. The algorithm which we implemented to solve this problem can be found
in figure \ref{j figure turn to ball}.
\begin{figure}[ht] \begin{figure}[ht]
\includegraphics[width=\textwidth]{\fig turn-to-ball} \includegraphics[width=\textwidth]{\fig turn-to-ball}
\caption{Turn to Ball algorithm} \caption{Turn to Ball algorithm}
\label{j figure turn to ball} \label{j figure turn to ball}
\end{figure} \end{figure}
The turn to ball algorithm consists of four main parts. The Turn to Ball algorithm consists of four main parts.
The first part is the \textbf{Ball Detection} part, the main task of which is
to find out, if the ball is visible in one of the cameras. At first frames from
both cameras of the robot are read in. It is then checked, if a ball is visible
in the picture using the ball detection algorithm. Depending on if the ball is
visible or not, different strategies are considered. If no ball was found in
the pictures, the algorithm proceeds with \textbf{Can't See the Ball}; if the
ball was found in the pictures, the ball yaw angle in the camera frame is
calculated and forwarded to \textbf{Head Adjustment}.
The first part is the \textbf{Ball Detection} part \label{j sec ball detection}, which main task is to find out, if the ball is visible in one of the cameras. At first frames from both cameras of the robot are read in. It is then checked, if a ball is visible in the picture using the ball-detection algorithm. Depending on if the ball is visible or not, different strategies are considered. If no ball was found in the pictures, the algorithm proceeds with \textbf{Can't See the Ball}, if the ball was found in the pictures, the ball yaw angle in the camera frame is calculated and forwarded to \textbf{Head Adjustment}. The next part of the Turn to Ball algorithm is the \textbf{Can't See the Ball}
part. This part of the algorithm is executed, if the ball was not visible in
any of the camera frames. Different succeeding strategies are run to cover
different situations. If a strategy is successful, the algorithm continues with
the \textbf{Head Adjustment}. If a strategy is not successful, the next
strategy in the chain is run. The possible strategies will now be presented.
Another part of the turn to ball algorithm is the \textbf{Can't See the Ball} part. As the ball detection algorithm can sometimes fail, it is first ensured, that
This part of the algorithm is executed, if the ball was not visible in one of the camera frames. Different succeeding strategies are run to cover different situations. If the strategies are successful the algorithm continues with \textbf{Ball Detection} and \textbf{Head Adjustment}. If the strategies are not successful, the next strategy in the chain is run. \\ the ball detection algorithm was used on at least three consecutive frames. If
At the ball detection algorithm can sometimes fail, it is first insured, that the ball was not found in three succeeding frames, the next possible solution
the ball detection algorithm was used on at least 3 succeeding frames. If the ball was not found in 3 succeeding frames, the next possible solution is letting the robot stop his current movement and step back for a specified distance, in case if the ball was directly in front of the robot and could therefore not be detected by both cameras. If this strategy was not successful, the robot starts to move his head to some defined angles and tries to find the ball in both camera frames. If this strategy than also failes, the robot starts to rotate around his z-axis until he is able to detect the ball in one of his camera frames. is letting the robot stop its current movement and step back for a specified
distance, for the case if the ball was directly in front of the robot and could
not therefore be detected by both cameras. If this strategy was not successful,
the robot starts to move its head to some defined angles and tries to find the
ball in both camera frames. If this strategy than also fails, the robot starts
to rotate around its z-axis until it is able to detect the ball in one of its
camera frames.
In the \textbf{Head Adjustment} part all necessary head movements are covered. In the \textbf{Head Adjustment} part all necessary head movements are covered.
In this part of the algorithm the head is rotated by a calculated angle, which depends on the ball yaw angle, which was provided by the \textbf{Ball Detection} part. In this part of the algorithm the head is rotated by a calculated angle, which
Therefore, the ball should now be aligned in the centre of the robots' camera frames. depends on the ball yaw angle, which was provided by the \textbf{Ball
If the angle between the head an the rest of the body is now below a specified threshold, the ball is locked and the algorithm stops, otherwise the algorithm continues with \textbf{Body Adjustment}. Detection} part. Therefore, the ball should now be aligned in the center of
the robots' camera frames. If the angle between the head and the rest of the
body is now below a specified threshold, the ball is locked and the algorithm
stops, otherwise the algorithm continues with \textbf{Body Adjustment}.
The \textbf{Body Adjustment} part covers all necessary parts regarding the rotation of the body. The \textbf{Body Adjustment} part covers all necessary parts regarding the
In this part of the algorithm, the robot first stops his current movement. Then the robot starts to rotate around his z-axis depending on the current head yaw angle. To ensure that the head and body of the robot are aligned as in the beginning of the whole algorithm, the head is rotated back into zero yaw. The algorithm continues than with the \textbf{Ball Detection}. rotation of the body. In this part of the algorithm, the robot first stops its
current movement. Then the robot starts to rotate around its z-axis depending
on the current head yaw angle. To ensure that the head and body of the robot
are aligned, like in the beginning of the whole algorithm, the head is rotated
back into zero yaw. The algorithm continues then with another \textbf{Ball
Detection}, to ensure that the robot is properly centered at the ball.
The proposed algorithm provided decent results during many test runs. It allows the robot to align himself to the ball fast while some strategies are in place to let the robot find the ball for situations, where the ball is not in the direct view of the robot. However, there are still some things to improve. If the ball is far away from the robot and can therefore not be detected by the \textbf{Ball Detection algorithm} the robot will continue to rotate and try to find the ball. To solve this, some self localisation algorithms could be implemented to let the robot move to predefined locations the field and then start the \textbf{Turn to ball algorithm} again. The proposed algorithm provided decent results during many test runs. It allows
the robot to align itself to the ball fast, while some strategies are in place
to let the robot find the ball in situations, when the ball is not in the
field of view of the robot. However, there are still some things to improve. If
the ball is far away from the robot and can therefore not be detected by the
\textbf{Ball Detection algorithm}, the robot will continue to rotate and try to
find the ball. To solve this, some self-localization algorithms could be
implemented to let the robot move to predefined locations on the field and then
start the \textbf{Turn to Ball algorithm} again.
%TODO %TODO
%Follow the ball always -> problem: movement while walking %Follow the ball always -> problem: movement while walking
%Describe in more Detail??? Are all steps in can not see the ball executed every time? %Describe in more Detail??? Are all steps in can not see the ball executed every time?
%Mention stand up %Mention stand up
\section{Distance Measurement} \section{Distance Measurement}
\label{j sec distance measurement} \label{j sec distance measurement}
The task which we try to accomplish here is to measure the distance to the ball using the images from the cameras. \\
The proposed solution to measure the distance to the ball is shown in figure \ref{j figure distance measurement}. In the right upper corner of the picture is the camera frame shown, which belongs to the top camera of the robot. The task which we try to accomplish here is to measure the distance to the ball
using the images from the cameras.
The proposed solution to measure the distance to the ball is shown in figure
\ref{j figure distance measurement}. In the right upper corner of the picture
the camera frame is shown, which belongs to the top camera of the robot.
\begin{figure}[ht] \begin{figure}[ht]
\includegraphics[width=\textwidth]{\fig distance-meassurement} \includegraphics[width=\textwidth]{\fig distance-meassurement}
\caption{Distance measurement} \caption{Distance measurement}
\label{j figure distance measurement} \label{j figure distance measurement}
\end{figure} \end{figure}
As this algorithm is executed after \textbf{Turning to ball} (Section \ref{j sec turning to ball}) it is assumed, that the robot is already turned to the ball and has the ball centred in his top camera view. \\ As this algorithm is executed after \textbf{Turning to Ball} (Section \ref{j
The distance measurement is described in the following. At first, it is assured, that the robot is in the defined stand-up posture, to ensure that the distance calculations are accurately enough. The current camera frame is then used to estimate the angle $ \Phi_{\mathrm{meas}} $ between the position of the ball and the centre of the camera frame. In the stand-up position, the top camera of the robot is not aligned with the parallel to the floor. There is therefore an offset angle for the centre of the camera frame, which has to be considered in the calculations. As seen in figure \ref{j figure distance measurement} $ \Phi_{\mathrm{ball}} $ and $ \Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}} $ are alternate interior angles therefore the following equations holds: sec turning to ball}) it is assumed, that the robot is already turned to the
ball and has the ball centered in its top camera view.
The distance measurement will now be described. At first,
the robot is brought to a defined stand-up posture, to ensure that the
distance calculations are accurate. The current camera frame is then
used to estimate the angle $\Phi_{\mathrm{meas}}$ between the position of the
ball and the center of the camera frame. In the stand-up position, the top
camera of the robot is not aligned with the parallel to the floor. There is
therefore an offset angle for the center of the camera frame, which has to be
considered in the calculations. As seen in figure \ref{j figure distance
measurement} $ \Phi_{\mathrm{ball}} $ and $
\Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}} $ are alternate interior angles
therefore the following equations holds:
\begin{equation} \begin{equation}
\Phi_{\mathrm{ball}} = \Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}} \; . \Phi_{\mathrm{ball}} = \Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}} \; .
\end{equation}
Using the estimated angle $ \Phi_{\mathrm{ball}} $ and the height of the robot the distance to the ball can now be calculated using simple trigonometry:
\begin{equation}
d = \frac{\mathrm{height}}{\Phi_{\mathrm{ball}}} = \frac{\mathrm{height}}{\Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}}} \; .
\end{equation} \end{equation}
Even so the proposed equation for distance measurement is rather simple it provided sufficient results during the test runs. Using the estimated angle $ \Phi_{\mathrm{ball}} $ and the height of the robot
the distance to the ball can now be calculated using simple trigonometry:
\begin{equation}
d = \frac{\mathrm{height}}{\Phi_{\mathrm{ball}}} = \frac{\mathrm{height}}{\Phi_{\mathrm{meas}}+\Phi_{\mathrm{cam}}} \; .
\end{equation}
Even so the proposed equation for distance measurement is rather simple, it
provided sufficient precision during the test runs.
%TODO %TODO
%Mention Stand up to ensure, that robot is always in the same position %Mention Stand up to ensure, that robot is always in the same position
%Explain how angles are derived from the camera frames? %Explain how angles are derived from the camera frames?
%Value of phi cam? %Value of phi cam?
% \newpage % \newpage
\section{Approach Planning} \section{Approach Planning}
\label{j sec approach planing} \label{j sec approach planning}
An important part of the approaching strategy is to find out, in which direction the robot should start to approach the ball, so that it is later in a good position for the following approach steps.
The task is therefore to choose an appropriate approach path. An important part of the approach strategy is to determine, in which direction
the approach should start, so that the robot is later in a good position for
the consecutive approach steps. The task is therefore to choose an appropriate
approach path.
%TODO %TODO
%It is assumed, that ball and goal are aligned in such a way, that the robot .... %It is assumed, that ball and goal are aligned in such a way, that the robot ....
\begin{figure}[ht] \begin{figure}[ht]
\includegraphics[width=\textwidth]{\fig choose-approach-start} \includegraphics[width=\textwidth]{\fig choose-approach-start}
\caption{Starting condition of approach planning} \caption{Starting condition of approach planning}
\label{j figure starting condition choose-approach} \label{j figure starting condition choose-approach}
\end{figure} \end{figure}
The task is solved as following. At the beginning the robot is in the standing position and the ball is in the centre of the camera view. As the position of the ball is therefore known, it is important to find out, where the ball is to determine an appropriate approach path. The robot will therefore rotate his head, until he is able to recognize the goal in the view of his top camera (figure \ref{j figure choose-approach}). The task is solved as following. At the beginning the robot is in the standing
position and the ball is in the center of the camera view. As the position of
the ball is therefore known, it is important to find out, where the goal is to
determine an appropriate approach path. The robot will therefore rotate its
head, until it is able to recognize the goal in the view of its top camera
(figure \ref{j figure choose-approach}).
\begin{figure}[ht] \begin{figure}[ht]
\includegraphics[width=\textwidth]{\fig choose-approach} \includegraphics[width=\textwidth]{\fig choose-approach}
\caption{Choose approach} \caption{Choose approach}
\label{j figure choose-approach} \label{j figure choose-approach}
\end{figure} \end{figure}
Using the centre position of the goal, the angle between the ball and the goal is estimated. Depending on the value of the angle, different approach directions are chosen. In figure \ref{j figure choose-approach}, the goal is on the right side of the ball. It makes therefore sense to approach the ball somewhere from the left side. In the current implementation there are three possible approach directions. The robot could approach the ball either from the left or the right side. If the angle between the goal and the ball is sufficiently small, the robot could also do a straight approach to the ball. As the exact approach angle to the ball is calculated in another part of the approach planning, it's enough to decide between those 3 possible approach directions.\\ Using the position of the center of the goal, the angle between the ball and
The proposed algorithm worked fine under the consideration of the possible scenarios. As the goal detection algorithm works quite reliable the appropriate approach direction was found fast most of the time.\\ the goal is estimated. Depending on the value of the angle, different approach
As the approach direction is now known, the approach angle and the walking distance of the robot have to be estimated. The task is to find an approach angle and walking distance in such a way, that the robot is in a good position for a later kick. directions are chosen. In the figure \ref{j figure choose-approach}, the goal
is on the right side of the ball. It therefore makes sense to approach the ball
somewhere from the left side. In the current implementation there are three
possible approach directions. The robot could approach the ball either from the
left or the right side; or if the angle between the goal and the ball is
sufficiently small, the robot could also do a straight approach to the ball. As
the exact approach angle to the ball is calculated in the next part of the
approach planning, it's enough for now to decide between those three possible
approach directions.
The proposed algorithm worked fine under the consideration of the
possible scenarios. As the goal detection algorithm works quite reliable, the
appropriate approach direction was found quickly most of the time.
\newpage
As the approach direction is now known, the approach angle and the walking
distance of the robot have to be estimated. The task is to find an approach
angle and walking distance in such a way, that the robot is in a good position
for a later kick.
\begin{figure}[ht] \begin{figure}[ht]
\includegraphics[width=\textwidth]{\fig walking-distance} \includegraphics[width=\textwidth]{\fig walking-distance}
\caption{Approach angle and walking distance} \caption{Approach angle and walking distance}
\label{j figure approach angle and walking distance} \label{j figure approach angle and walking distance}
\end{figure} \end{figure}
%TODO %TODO
%bdist is hypo and walking distance is hypo %bdist is hypo and walking distance is hypo
The task is solved as following. Again the robot is in the standing position and the ball is centred in the camera view of the top camera. The ball distance has already been estimated as described in section \ref{j sec distance measurement}. To estimate the approach angle and the walking distance, a desired distance is defined which defines the distance between the robot and the ball after the walk. Approach angle and walking distance can then be computed. Thereby we considered to different approaches depending on the distance between the ball and the robot. If the distance between the robot and the ball is below or equal to a specified threshold the triangle looks as shown in figure \ref{j figure rdist hypo}.
The task is solved as following. Again the robot is in the standing position
and the ball is centered in the camera view of the top camera. The ball
distance has already been estimated as described in section \ref{j sec distance
measurement}. To estimate the approach angle and the walking distance, a
desired distance is defined which defines the distance between the robot and
the ball after the walk. Approach angle and walking distance can then be
computed. Thereby we considered two different approaches depending on the
distance between the ball and the robot. If the distance between the robot and
the ball is below or equal to a specified threshold the triangle looks as shown
in figure \ref{j figure rdist hypo}.
\begin{figure}[ht] \begin{figure}[ht]
\centering \centering
\begin{tikzpicture}[scale=0.75] \begin{tikzpicture}[scale=0.75]
%\draw [help lines, dashed] (0,0) grid(8,4); %\draw [help lines, dashed] (0,0) grid(8,4);
\draw (8,4) coordinate (a) node[anchor=west]{Robot} \draw (8,4) coordinate (a) node[anchor=west]{Robot}
-- (0,4) coordinate (b) node[anchor=east]{Ball} -- (0,4) coordinate (b) node[anchor=east]{Ball}
-- (0,0) coordinate (c) node[anchor=north]{Position after walk} -- (0,0) coordinate (c) node[anchor=north]{Position after walk}
-- cycle pic[draw=black, <->, angle eccentricity=1.2, angle radius=2cm] -- cycle pic[draw=black, <->, angle eccentricity=1.2, angle radius=2cm]
{angle=b--a--c}; {angle=b--a--c};
\node at (6,3.5) {$\Theta_\mathrm{appr}$}; \node at (6,3.5) {$\Theta_\mathrm{appr}$};
\node at (4,4.5) {ball distance}; \node at (4,4.5) {ball distance};
\node[align=left] at (-1.5,2) {desired\\ distance}; \node[align=left] at (-1.5,2) {desired\\ distance};
\end{tikzpicture} \end{tikzpicture}
\caption{Approach for short ball distance} \caption{Approach for short ball distance}
\label{j figure rdist hypo} \label{j figure rdist hypo}
\end{figure} \end{figure}
% \newpage % \newpage
During our tests this approach seemed more suitable for short ball distances. During our tests this approach seemed more suitable for short ball distances.
For long ball distances however we choose a different approach. For long ball distances however we choose a different approach. If the distance
If the distance between ball and the robot is larger than a specified threshold, the triangle looks like in figure \ref{j figure bdist hypo}. between ball and the robot is larger than a specified threshold, the triangle
looks like in figure \ref{j figure bdist hypo}.
\begin{figure}[ht] \begin{figure}[ht]
\centering \centering
\begin{tikzpicture}[scale=0.75] \begin{tikzpicture}[scale=0.75]
%\draw [help lines, dashed] (0,0) grid(8,4); %\draw [help lines, dashed] (0,0) grid(8,4);
\draw (8,4) coordinate (a) node[anchor=west]{Robot} \draw (8,4) coordinate (a) node[anchor=west]{Robot}
-- (0,4) coordinate (b) node[anchor=east]{Ball} -- (0,4) coordinate (b) node[anchor=east]{Ball}
-- (2,1)coordinate (c) node[anchor=north]{Position after walk} -- (2,1)coordinate (c) node[anchor=north]{Position after walk}
-- cycle pic[draw=black, <->, angle eccentricity=1.2, angle radius=2cm] -- cycle pic[draw=black, <->, angle eccentricity=1.2, angle radius=2cm]
{angle=b--a--c}; {angle=b--a--c};
\node at (6,3.5) {$\Theta_\mathrm{appr}$}; \node at (6,3.5) {$\Theta_\mathrm{appr}$};
\node at (4,4.5) {ball distance}; \node at (4,4.5) {ball distance};
\node[align=left] at (-0.25,2) {desired\\ distance}; \node[align=left] at (-0.25,2) {desired\\ distance};
\end{tikzpicture} \end{tikzpicture}
\caption{Approach for long ball distance} \caption{Approach for long ball distance}
\label{j figure bdist hypo} \label{j figure bdist hypo}
\end{figure} \end{figure}
To calculate the appropriate walking distance, the following formulas estimate the approaching angle and calculate the distance. To calculate the appropriate walking distance, the following formulas estimate
the approaching angle and calculate the distance.
\begin{equation} \begin{equation}
\Theta_\mathrm{appr}=\arctan\left(\frac{\mathrm{Desired\ distance}}{\mathrm{ball\ distance}} \right) \; \; \mathrm{or} \; \; \arcsin\left(\frac{\mathrm{Desired\ distance}}{\mathrm{ball\ distance}}\right) \Theta_\mathrm{appr}=\arctan\left(\frac{\mathrm{Desired\ distance}}{\mathrm{ball\ distance}} \right) \; \; \mathrm{or} \; \; \arcsin\left(\frac{\mathrm{Desired\ distance}}{\mathrm{ball\ distance}}\right)
\end{equation} \end{equation}
\begin{equation} \begin{equation}
\mathrm{walking\ distance}=\frac{\mathrm{ball\ distance}}{\cos(\Theta_\mathrm{appr})} \; \; \mathrm{or} \; \; \frac{\cos(\Theta_\mathrm{appr})}{\mathrm{ball\ distance}} \mathrm{walking\ distance}=\frac{\mathrm{ball\ distance}}{\cos(\Theta_\mathrm{appr})} \; \; \mathrm{or} \; \; \frac{\cos(\Theta_\mathrm{appr})}{\mathrm{ball\ distance}}
\end{equation} \end{equation}
If the distance between the robot and the ball is really small, the robot starts a direct approach to the ball regardless of the position of the goal. This makes more sense for short distances, than the two approaches stated above. If the distance between the robot and the ball is really small, the robot
starts a direct approach to the ball regardless of the position of the goal.
This makes more sense for short distances, than the two approaches stated
above. In this case the neccessary actions for goal alignment will happen in a
dedicated goal alignment stage, described in the section \ref{p sec goal
align}.

2
documentation/kick.tex
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@@ -9,7 +9,7 @@ goal. Therefore, due to time constraints we implemented the simplest possible
kick, that would satisfy those requirements. kick, that would satisfy those requirements.
The procedure is as follows. First the robot will use its ankle joints to shift The procedure is as follows. First the robot will use its ankle joints to shift
its weight to the base leg. After this, the robots will be able to lift the its weight to the base leg. After this, the robot will be able to lift the
kicking leg for the swing. Finally, the robot will perform the swing and return kicking leg for the swing. Finally, the robot will perform the swing and return
to the standing position. Both raising the leg and doing the swing require to the standing position. Both raising the leg and doing the swing require
precise coordinated joint movements, so we had to conduct experiments to precise coordinated joint movements, so we had to conduct experiments to

2
documentation/robotum_report.tex
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@@ -40,7 +40,7 @@
\input{solintro} % Our solution intro \input{solintro} % Our solution intro
\input{perception} % Ball goal and field \input{perception} % Ball goal and field
% \input{Yuankai} % \input{Yuankai}
\input{jonas} % Distance, approach planing \input{jonas} % Distance, approach planning
\input{approach} % Ball approach \input{approach} % Ball approach
\input{align} % Goal alignment \input{align} % Goal alignment
\input{kick} \input{kick}