Investigation on a new kick equipment with two degrees of freedom controlled by FPGA for RoboCup

For the disadvantage of current kick equipments for Robot World Cup(RoboCup) Middle-sized robots, a new kick equipment with two degrees of freedom which can motion in the X-Y plane is designed. Has fully used the only space in front of the robot, controlled by FPGA and drived by actuating motor. Finally simulated by using Quartus II 8.0 software. The equipment can implement flat fire and flip shot, and easy control.