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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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Datensatz-Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BDE4-9 Versions-Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BDE5-7
Genre: Konferenzbeitrag

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 Urheber:
Mülling, K1, Autor              
Kober, J1, Autor              
Peters, J1, 2, Autor              
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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Schlagwörter: -
 Zusammenfassung: 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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 Datum: 2010-10
 Publikationsstatus: Im Druck publiziert
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: ISBN: 978-1-424-46675-7
URI: http://www.iros2010.org.tw/about.php
DOI: 10.1109/IROS.2010.5650305
BibTex Citekey: 6641
 Art des Abschluß: -

Veranstaltung

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Titel: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
Veranstaltungsort: Taipei, Taiwan
Start-/Enddatum: -

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Titel: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010)
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 1921 - 1926 Identifikator: -