ICRA 2011 Paper Abstract

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Paper WeAV215.6

Nierhoff, Thomas (TU München), Kourakos, Omiros (Technische Universität München), Hirche, Sandra (Technische Universität München)

Playing Pool with a Dual-Armed Robot

Scheduled for presentation during the Video Sessions "Video Session II: Humanoid and Service Robotics" (WeAV215), Wednesday, May 11, 2011, 10:45−10:53, Room 3A

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 19, 2014

Keywords Humanoid Robots, Visual Servoing, Redundant Robots

Abstract

This video presents a robot capable of playing pool on a normal sized pool table using two arms. For successfully completing this task several issues need to be addressed, including the perception of relevant environment information, planning of actions and finally an efficient execution. The video outlines how the robot accurately locates the pool table, the balls on the table and the cue and subsequently plans the next shot. In order to improve the stroke speed, an optimization algorithm for the arm configuration is described. Finally, it is shown how all these modules are integrated to achieve a working two-handed robotic pool play.

 

 

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