Study of teen-sized humanoid robot kicking behavior

This paper discusses about the development of a light weight 1.15m tall humanoid robot called `Ka-Nok' that can walk, kick the ball and withstand the fall in order to participate in the RoboCup teen-sized humanoid robot soccer competition. In this paper we focus our study on trying to understand the physics of ball kicking so that we can design the kicking behavior for our robot which can control the motion of the ball toward the target while maintaining the stability and using minimum energy possible. Three types of kicking were tested: straight shot, inside foot and heel kick. The distance of ball rolling can be controlled from the knee lifting angle in a straight shot.