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  Simulating Human Table Tennis with a Biomimetic Robot Setup

Mülling, K., Kober, J., & Peters, J. (2010). Simulating Human Table Tennis with a Biomimetic Robot Setup. From Animals to Animats 11: Eleventh International Conference on the Simulation of Adaptive Behavior (SAB 2010), 273-282.

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 Creators:
Mülling, K1, Author           
Kober, J1, Author           
Peters, J1, 2, Author           
Doncieux, Editor
S., Editor
Girard, B., Editor
Guillot, A., Editor
Hallam, J., Editor
Meyer, J.-A., Editor
Mouret, J.-B., Editor
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Dept. Empirical Inference, Max Planck Institute for Intelligent Systems, Max Planck Society, ou_1497647              

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 Abstract: Playing table tennis is a difficult motor task which requires fast movements, accurate control and adaptation to task parameters. Although human beings see and move slower than most robot systems they outperform all table tennis robots significantly. In this paper we study human table tennis and present a robot system that mimics human striking behavior. Therefore we model the human movements involved in hitting a table tennis ball using discrete movement stages and the virtual hitting point hypothesis. The resulting model is implemented on an anthropomorphic robot arm with 7 degrees of freedom using robotics methods. We verify the functionality of the model both in a physical realistic simulation of an anthropomorphic robot arm and on a real Barrett WAM.

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 Dates: 2010-08
 Publication Status: Issued
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: ISBN: 978-3-642-15193-4
URI: http://www.sab2010.org/wiki
DOI: 10.1007/978-3-642-15193-4_26
BibTex Citekey: 6626
 Degree: -

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Title: 11th International Conference on Simulation of Adaptive Behavior (SAB 2010)
Place of Event: Paris, France
Start-/End Date: -

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Title: From Animals to Animats 11: Eleventh International Conference on the Simulation of Adaptive Behavior (SAB 2010)
Source Genre: Journal
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Publ. Info: Berlin, Germany : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 273 - 282 Identifier: -