Simulating Human Table Tennis with a Biomimetic Robot Setup
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.
| Author(s): | Mülling, K. and Kober, J. and Peters, J. |
| Book Title: | From Animals to Animats 11 |
| Journal: | From Animals to Animats 11: Eleventh International Conference on the Simulation of Adaptive Behavior (SAB 2010) |
| Pages: | 273-282 |
| Year: | 2010 |
| Month: | August |
| Day: | 0 |
| Editors: | Doncieux, S. , B. Girard, A. Guillot, J. Hallam, J.-A. Meyer, J.-B. Mouret |
| Publisher: | Springer |
| Bibtex Type: | Conference Paper (inproceedings) |
| Address: | Berlin, Germany |
| DOI: | 10.1007/978-3-642-15193-4_26 |
| Event Name: | 11th International Conference on Simulation of Adaptive Behavior (SAB 2010) |
| Event Place: | Paris, France |
| Digital: | 0 |
| Electronic Archiving: | grant_archive |
| ISBN: | 978-3-642-15193-4 |
| Language: | en |
| Organization: | Max-Planck-Gesellschaft |
| School: | Biologische Kybernetik |
| Links: | |
BibTex
@inproceedings{6626,
title = {Simulating Human Table Tennis with a Biomimetic Robot Setup},
journal = {From Animals to Animats 11: Eleventh International Conference on the Simulation of Adaptive Behavior (SAB 2010)},
booktitle = {From Animals to Animats 11},
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.},
pages = {273-282},
editors = {Doncieux, S. , B. Girard, A. Guillot, J. Hallam, J.-A. Meyer, J.-B. Mouret},
publisher = {Springer},
organization = {Max-Planck-Gesellschaft},
school = {Biologische Kybernetik},
address = {Berlin, Germany},
month = aug,
year = {2010},
slug = {6626},
author = {M{\"u}lling, K. and Kober, J. and Peters, J.},
month_numeric = {8}
}