29 lines
1.4 KiB
TeX
29 lines
1.4 KiB
TeX
\section{Kick}
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The final milestone in the goal scoring project is naturally the kick. Before
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we started working on the kick, we formulated some requirements, which our
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implementation must satisfy. Firstly and most importantly, the robot shouldn't
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fall down when performing the kick. Secondly, the kick must have the sufficient
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strength, so that ideally only one kick is necessary for the ball to reach the
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goal. Therefore, due to time constraints we implemented the simplest possible
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kick, that would satisfy those requirements.
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The procedure is as follows. First the robot will use its ankle joints to shift
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its weight to the base leg. After this, the robot will be able to lift the
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kicking leg for the swing. Finally, the robot will perform the swing and return
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to the standing position. Both raising the leg and doing the swing require
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precise coordinated joint movements, so we had to conduct many experiments to
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establish the correct joint angles and the movement speed.
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An important drawback of our implementation is that the swing makes the whole
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process slower, but we weren't able to design a strong and stable kick without
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using the swing. Nevertheless, the tests that we performed have shown, that our
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implementation satisfies our requirements, and hence the last milestone was
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successfully completed.
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% \begin{figure}[ht]
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% \includegraphics[width=\textwidth]{\fig kick}
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% \caption{Kick sequence}
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% \label{p figure kick}
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% \end{figure}
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