Automatic, full body motion generation for humanoid robots presents a formidable computational challenge. The kicking motion is one of the most important motions in a soccer game. However, at the current state the most common approaches of implementing this motion are based on key frame technique. Such solutions are inflexible and cost a lot of time to adjust robot's position. In this paper we present an approach for adaptive control of the motions. We implemented our approach in order to solve the task of kicking the ball on a humanoid robot Nao. The approach was tested both in simulation and on a real robot.
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