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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. In S. Doncieux, B. Girard, A. Guillot, J. Hallam, J.-A. Meyer, & J.-B. Mouret (Eds.), From Animals to Animats 11 (pp. 273-282). Berlin, Germany: Springer.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BEC6-5 Version Permalink: http://hdl.handle.net/21.11116/0000-0002-8119-0
Genre: Conference Paper

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 Creators:
Mülling, K1, 2, Author              
Kober, J1, 2, Author              
Peters, J1, 2, Author              
Affiliations:
1Department Empirical Inference, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497795              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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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: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Method: -
 Identifiers: 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: 2010-08-25 - 2010-08-28

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Source 1

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Title: From Animals to Animats 11
Source Genre: Proceedings
 Creator(s):
Doncieux, S, Editor
Girard, B, Editor
Guillot, A, Editor
Hallam, J, Editor
Meyer, J-A, Editor
Mouret, J-B, Editor
Affiliations:
-
Publ. Info: Berlin, Germany : Springer
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 273 - 282 Identifier: ISBN: 978-3-642-15193-4

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Title: Lecture Notes in Computer Science
Source Genre: Series
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Publ. Info: -
Pages: - Volume / Issue: 6226 Sequence Number: - Start / End Page: - Identifier: -