Catching flying balls with a mobile humanoid: System overview and design considerations

Catching flying balls with a mobile humanoid: System overview and design considerations

A ball catching scenario with the mobile humanoid Rollin' Justin is presented. It can catch up to two simultaneously thrown balls with its hands, reaching a catch rate of over 80%. All DOF (degrees of freedom), i.e., the arms, the torso, and the mobile platform, are used for the reaching motion...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Bauml, Berthold, Birbach, Oliver, Wimbock, Thomas, Frese, Udo, Dietrich, Alexander, Hirzinger, Gerd
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Cameras
Joints
Mobile communication
Robots
Sensors
Torso
Trajectory
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Beschreibung
Zusammenfassung:A ball catching scenario with the mobile humanoid Rollin' Justin is presented. It can catch up to two simultaneously thrown balls with its hands, reaching a catch rate of over 80%. All DOF (degrees of freedom), i.e., the arms, the torso, and the mobile platform, are used for the reaching motion and the system works completely wirelessly using only onboard sensing. The task is demanding because of the necessary precision in space (
ISSN:2164-0572
DOI:10.1109/Humanoids.2011.6100837