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    <p>There is a significant body of research literature on <a href="http://en.wikipedia.org/wiki/Motion_planning" rel="nofollow noreferrer">robot motion planning</a> and <a href="http://en.wikipedia.org/wiki/Robot_locomotion" rel="nofollow noreferrer">robot locomotion</a>.</p> <p><strong>General Robot Locomotion Control</strong></p> <p>For bipedal robots, there are at least two major approaches to robot design and control (whether the robot is simulated or physically real):</p> <ul> <li><em><a href="http://en.wikipedia.org/wiki/Zero_Moment_Point" rel="nofollow noreferrer">Zero Moment Point</a></em> - a dynamics-based approach to locomotion stability and control.</li> <li><em>Biologically-inspired locomotion</em> - a control approach modeled after biological neural networks in mammals, insects, etc., that focuses on use of <a href="http://en.wikipedia.org/wiki/Central_pattern_generator" rel="nofollow noreferrer">central pattern generators</a> modified by other motor control programs/loops to control overall walking and maintain stability.</li> </ul> <p><strong>Motion Control for Bipedal Soccer Robot</strong></p> <p>There are really two aspects to handling the control issues for your simulated biped robot: </p> <ol> <li>Basic walking and locomotion control </li> <li>Task-oriented motion planning</li> </ol> <p>The first part is just about handling the basic control issues for maintaining robot stability (assuming you are using some physics-based model with gravity), walking in a straight-line, turning, etc. The second part is focused on getting your robot to accomplish specific tasks as a soccer player, e.g., run toward the ball, kick the ball, block an opposing player, etc. It is probably easiest to solve these separately and link the second part as a higher-level controller that sends trajectory and goal directives to the first part.</p> <p>There are a lot of relevant papers and books which could be suggested, but I've listed some potentially useful ones below that you may wish to include in whatever research you have already done.</p> <p><strong>Reading Suggestions</strong></p> <p>LaValle, Steven Michael (2006). <a href="http://books.google.com/books?id=Clg8SWNMSRAC&amp;lpg=PP1&amp;dq=robot%20path%20planning%20algorithm%20survey&amp;pg=PP1#v=onepage&amp;q=robot%20path%20planning%20algorithm%20survey&amp;f=false" rel="nofollow noreferrer"><em>Planning Algorithms</em></a>, Cambridge University Press.</p> <p>Raibert, Marc (1986). <em>Legged Robots that Balance</em>. MIT Press.</p> <p>Vukobratovic, Miomir and Borovac, Branislav (2004). "<a href="http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.84.5525&amp;rep=rep1&amp;type=pdf" rel="nofollow noreferrer">Zero-Moment Point - Thirty Five Years of its Life</a>", International Journal of Humanoid Robotics, Vol. 1, No. 1, pp 157–173.</p> <p>Hirose, Masato and Takenaka, T (2001). "<a href="http://sciencelinks.jp/j-east/article/200115/000020011501A0469037.php" rel="nofollow noreferrer">Development of the humanoid robot ASIMO</a>", Honda R&amp;D Technical Review, vol 13, no. 1.</p> <p>Wu, QiDi and Liu, ChengJu and Zhang, JiaQi and Chen, QiJun (2009). "<a href="http://www.springerlink.com/content/5q01044k21814j30/" rel="nofollow noreferrer">Survey of locomotion control of legged robots inspired by biological concept </a>", Science in China Series F: Information Sciences, vol 52, no. 10, pp 1715--1729, Springer.</p> <p>Wahde, Mattias and Pettersson, Jimmy (2002) "<a href="http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.106.730&amp;rep=rep1&amp;type=pdf" rel="nofollow noreferrer">A brief review of bipedal robotics research</a>", Proceedings of the 8th Mechatronics Forum International Conference, pp 480-488.</p> <p>Shan, J., Junshi, C. and Jiapin, C. (2000). "<a href="http://ieeexplore.ieee.org/Xplore/00895253.pdf%3Farnumber%3D895253&amp;authDecision=-203" rel="nofollow noreferrer">Design of central pattern generator for humanoid robot walking based on multi-objective GA</a>", In: Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1930–1935.</p> <p>Chestnutt, J., Lau, M., Cheung, G., Kuffner, J., Hodgins, J., and Kanade, T. (2005). "<a href="http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.72.2220&amp;rep=rep1&amp;type=pdf" rel="nofollow noreferrer">Footstep planning for the Honda ASIMO humanoid</a>", Proceedings of the 2005 IEEE International Conference on Robotics and Automation (ICRA 2005), pp 629-634.</p>
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    1. POWhat techniques exist for the software-driven locomotion of a bipedal robot?
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    1. USJoel Hoff
    1. USJoel Hoff
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    1. COThanks for the thorough answer. I'll definitely read through those papers you have linked to.
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      1. USDrew Noakes
    2. CO@Drew - I've added another paper reference for ASIMO and provided a Google Books weblink for LaValle's planning algorithms book.
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      1. USJoel Hoff
 

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