An analytic, torque-aware in-walk kick generator using constant-acceleration swing phases achieves 42% longer kicks than a waveform baseline in simulation and a full-field kick on a real humanoid.
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Maximum Impulse Approach to Soccer Kicking for Humanoid Robots
An analytic, torque-aware in-walk kick generator using constant-acceleration swing phases achieves 42% longer kicks than a waveform baseline in simulation and a full-field kick on a real humanoid.