ROBOLEG: A Robotic Soccer-Ball Kicking Leg

Hagen Schempf, C. Kraeuter, and Mike Blackwell
Proceedings of ICRA '95, May, 1995, pp. 1314 - 1318.

  • Adobe portable document format (pdf) (259KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

This paper presents the analysis, design and experimental results of a development program for a robotic leg to be used to kick soccer balls to evaluate new shoe and ball designs for the sport of soccer. The motivation is to be seen in the ability to reproduce and vary kicks reliably to allow more accurate evaluation of new shoe and ball designs without the use of extensive human-kick data sets, statistical evaluations and unquantifiable and unknown experimental errors. The leg was designed with a combination of active and spring-assisted actuator modules to allow the leg to transfer momentum to a soccer ball to achieve take-off speeds of up to 40 m/sec. A removable foot allows for testing of various shoes. Preliminary experimental results have shown that the ball can be kicked with enough range and spin to hit inside the upper corners of a goal at a distance of 20 m and a height of 2.5m with an accuracy of +/- one ball diameter (0.25m), with a maximum range of 40m.

Associated Center(s) / Consortia: Field Robotics Center
Associated Project(s): Robotic soccer-ball kicking leg

Text Reference
Hagen Schempf, C. Kraeuter, and Mike Blackwell, "ROBOLEG: A Robotic Soccer-Ball Kicking Leg," Proceedings of ICRA '95, May, 1995, pp. 1314 - 1318.

BibTeX Reference
   author = "Hagen Schempf and C. Kraeuter and Mike Blackwell",
   title = "ROBOLEG: A Robotic Soccer-Ball Kicking Leg",
   booktitle = "Proceedings of ICRA '95",
   pages = "1314 - 1318",
   month = "May",
   year = "1995",
   volume = "2",