Humanoid Robot Kick in Motion Ability for Playing Robotic Soccer

This work seeks to design and implement a humanoid robotic kick for situations where the robot is moving for the RoboCup simulation 3D robotic soccer league. It employs Reinforcement Learning (RL) techniques, namely the Proximal Policy Optimization (PPO) algorithm to create fast and reliable skills. The kick was divided into 6 cases according to initial conditions and separately trained for each of the cases. A series of kicks, both static and in motion, using two different gaits were developed. The kicks obtained show very high reliability and, when compared to state of the art kicks, displayed a very high time performance improvement. This opens the door to more dynamic games with faster kicks in the RoboCup simulation 3D league.