Datensatz

Zusammenfassung

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.