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  A biomimetic approach to robot table tennis

Mülling, K., Kober, J., & Peters, J. (2010). A biomimetic approach to robot table tennis. In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010) (pp. 1921-1926). Piscataway, NJ, USA: IEEE.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BDE4-9 Version Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BDE5-7
Genre: Conference Paper

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 Creators:
Mülling, K1, Author              
Kober, J1, Author              
Peters, J1, 2, Author              
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, escidoc:1497795              
2Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society, escidoc:1497647              

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 Abstract: Although human beings see and move slower than table tennis or baseball robots, they manage to outperform such robot systems. One important aspect of this better performance is the human movement generation. In this paper, we study trajectory generation for table tennis from a biomimetic point of view. Our focus lies on generating efficient stroke movements capable of mastering variations in the environmental conditions, such as changing ball speed, spin and position. We study table tennis from a human motor control point of view. To make headway towards this goal, we construct a trajectory generator for a single stroke using the discrete movement stages hypothesis and the virtual hitting point hypothesis to create a model that produces a human-like stroke movement. We verify the functionality of the trajectory generator for a single forehand stroke both in a simulation and using a real Barrett WAM.

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 Dates: 2010-10
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: ISBN: 978-1-424-46675-7
URI: http://www.iros2010.org.tw/about.php
DOI: 10.1109/IROS.2010.5650305
BibTex Citekey: 6641
 Degree: -

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Title: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
Place of Event: Taipei, Taiwan
Start-/End Date: -

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Title: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
Source Genre: Proceedings
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Affiliations:
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 1921 - 1926 Identifier: -