Transforming an EROS Humanoid Soccer Robot: A Study of Velocity Input and IMU-Managed Heading

This study redefines the navigation of humanoid soccer robots by incorporating velocity input and heading, akin to controls utilized in mobile robotics. Leveraging ZMP (Zero Moment Point) and IMU (Inertial Measurement Unit) data, a critical segue into velocity-controlled locomotion was achieved. Key insights into the applied velocity, mode of direction, and heading manipulation offered enhanced intention-oriented navigation and precise alignment capabilities. Enhanced by this methodology, the robotic maneuverability transcended to a new standard, showcasing improved agility, stability, and scoring efficacy. These transformations assert the possibility of bridging the gap between humanoid and mobile robotics, revolutionizing the sphere of humanoid soccer robotics and beyond. The result of our experiment experienced demonstrates enhanced robustness and agility features in humanoid soccer robots demonstrating effective improvements rendered with this approach. Our study further fostered progress in robotics research conducting concerning autonomous' system improvement soccer playing among humanoid soccer robots concerned with advanced techniques for modeling and enhancing walking dynamics.