抄録
The purpose of this research is to realize a kicking mechanism that can kick a soccer ball like professional soccer player. First we observed human kicking action by high speed camera, and estimated that the contact time of ball and foot during kicking action is 0.01 second. Next we calculated the force given to the ball and the motion of leg. In order to realize the desired kicking speed and necessary torque by two link mechanism that simulates human leg, the suitable combination of AC motors for hip and knee joints were selected from enormous numbers of combination of two motors. Finally the mechanical design of robot leg was performed.
