Intelligent Ball Throw Using Humanoid Robot /
Muhammad Affan Tariq
- 67p. Soft Copy 30cm
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.