@InProceedings{RC-Mueller-etal-11,
  author = {Judith M{\"u}ller and Tim Laue and Thomas R{\"o}fer},
  title = {Kicking a Ball - Modeling Complex Dynamic Motions for Humanoid Robots},
  year = {2011},
  editor = {Javier Ruiz--del--Solar and Eric Chown and Paul G. Ploeger},
  booktitle = {RoboCup 2010: Robot Soccer World Cup XIV},
  publisher = {Springer; Heidelberg; http://www.springer.de/},
  series = {Lecture Notes in Artificial Intelligence},
  pages = {109-120},
  volume = {6556},
  pdfurl = {http://www.informatik.uni-bremen.de/kogrob/papers/RC-Mueller-etal-11.pdf},
  abstract = {Complex motions like kicking a ball into the goal are becoming more important in RoboCup leagues such as the Standard Platform League. Thus, there is a need for motion sequences that can be parameterized and changed dynamically. This paper presents a motion engine that translates motions into joint angles by using trajectories. These motions are defined as a set of Bezier curves that can be changed online to allow adjusting, for example, a kicking motion precisely to the actual position of the ball. During the execution, motions are stabilized by the combination of center of mass balancing and a gyro feedback-based closed-loop PID-controller.},
  status = {Reviewed}
}