The motivation of this work is to synthesize a kicking pattern for a humanoid robot with consideration of various objectives such as retaining its balance even after the kick is done and reducing the undesired angular momentum using both hands and torso. This kick pattern is designed so that a desirable ball velocity is achieved. In this paper, the law of conservation of angular momentum is used to generate a less energy consuming trajectory. Effectiveness of the proposed method is verified using computer simulation and is tested on Sharif CEDRA humanoid robot.

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