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          Institute: MPI für biologische Kybernetik     Collection: Biologische Kybernetik     Display Documents



ID: 548405.0, MPI für biologische Kybernetik / Biologische Kybernetik
Simulating Human Table Tennis with a Biomimetic Robot Setup
Authors:Mülling, K.; Kober, J.; Peters, J.
Editors:Doncieux, S.; Girard, B.; Guillot, A.; Hallam, J.; Meyer, J.-A.; Mouret, J.-B.
Date of Publication (YYYY-MM-DD):2010-08
Title of Proceedings:From Animals to Animats 11: Eleventh International Conference on the Simulation of Adaptive Behavior (SAB 2010)
Start Page:273
End Page:282
Physical Description:10
Audience:Not Specified
Intended Educational Use:No
Abstract / Description: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.
External Publication Status:published
Document Type:Conference-Paper
Communicated by:Holger Fischer
Affiliations:MPI für biologische Kybernetik/Empirical Inference (Dept. Schölkopf)
Identifiers:LOCALID:6626
URL:http://www.sab2010.org/wiki
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