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Humanoid Robots has numerous applications among which throwing is one
of them. Most of the research focuses on wheeled robots and their throwing
applications. Using humanoid robot to throw the ball at a target, keeping itself
stable, located at a distance is a novel challenging task that requires
architecture for throw. This work focuses on comprehensive control
framework for enabling stable, autonomous throwing behaviour in humanoid
robots by integrating vision-based targeting with stability. The task is framed
as a targeted throwing leveraging all motors of humanoid robot. The system
is evaluated on the NAO humanoid robot within Webots simulation. The most
important contribution is demonstrating realistic humanoid throwing in
majority of which balance limitations form the direct design parameters both
the synergism of trajectory planning and implementation, the integration of
perception, ballistics, and stability-dependent movement of Nao. The
approach generalises to target in 3D space. The results show that unlike prior
work, adaptive throwing locates and throws at the targets in range keeping
robot stable.