@InProceedings{cisneros:humanoids:2013,
  author    = {Cisneros, Rafael and Yokoi, Kazuhito and Yoshida, Eiichi},
  title     = {Impulsive pedipulation of a spherical object for reaching a 3D goal position},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots},
  year      = {2013},
  pages     = {154--160},
  address   = {Atlanta, Geogia, USA},
  month     = {October 15-October 17},
  url       = {https://staff.aist.go.jp/e.yoshida/papers/Cisneros-humanoids2013.pdf},
  keywords  = {Foot, Robots, Trajectory, Angular velocity, Vectors, Mathematical model, Equations},
  doi       = {10.1109/HUMANOIDS.2013.7029970},
  abstract  = {The aim of this paper is to develop an algorithm that enables a humanoid robot to perform an impulsive pedipulation of a spherical object by using its foot, so that the object reaches a desired 3D goal position, taking into account some constraints imposed at the moment of the impact. This is done by planning a suitable motion of the humanoid robot that exerts the required impact conditions on this object. Then, we take the free kick in soccer as a case of study that represents one possible application of this algorithm. Finally, we provide a simulation example that intends to show its validity.}
}