Motion Planning with Continuous Contact for Dribbling in RoboCup

A set of constraints for motion planning whilst maintaining contact between a robot and a passive object is considered. It is demonstrated that a set of kinematic limits for the trajectory can be determined based upon the available force range and system response to perturbations. The proposed constraints are discretised and reformulated for a 2-D nonholonomic robot before being utilised by a modified fluid based motion planner capable of kinematic parameter control. The effect of the constraints and the performance of the motion planner is demonstrated on a dribbling scenario for soccer playing robots. The results show the flexibility and effectiveness of the constraints in generating a suitable trajectory and the capability of the developed motion planner to observe the determined constraints.