A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots

TL;DR

This paper introduces a biomechanics-inspired control framework that combines trajectory optimization and imitation learning to enable humanoid robots to perform highly dynamic soccer kicks, surpassing previous conservative approaches.

Contribution

It presents a novel control approach based on biomechanics analysis, trajectory design, and imitation learning for dynamic soccer kicking in humanoid robots.

Findings

PresToe can kick balls over 11 m/s in simulation.

The framework achieves stable, dynamic kicks with biomechanically feasible trajectories.

Demonstrates the effectiveness of combining biomechanics with learning for complex robot motions.

Abstract

Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs to simultaneously: 1) transfer high kinetic energy to the kicking leg, 2) maintain balance and stability of the entire body, and 3) manage the impact disturbance from the ball during the kicking moment. Prior studies on robotic soccer kicking often prioritized stability, leading to overly conservative quasi-static motions. In this work, we present a biomechanics-inspired control framework that leverages trajectory optimization and imitation learning to facilitate highly dynamic soccer kicks in humanoid robots. We conducted an in-depth analysis of human soccer kick biomechanics to identify key motion constraints. Based on this understanding, we designed kinodynamically feasible trajectories that are then used as a reference in imitation learning to develop a robust feedback control policy. We demonstrate the effectiveness of our approach through a simulation of an anthropomorphic 25 DoF bipedal humanoid robot, named PresToe, which is equipped with 7 DoF legs, including a unique actuated toe. Using our framework, PresToe can execute dynamic instep kicks, propelling the ball at speeds exceeding 11m/s in full dynamics simulation.