Impedance Control and its Effects on a Humanoid Robot Playing Table Tennis

Modeling Opponent Actions for Table-Tennis Playing Robot

Opponent modeling is a critical mechanism in repeated games. It allows a player to adapt its strategy in order to better respond to the presumed preferences of its opponents. We introduce a modeling technique that adaptively balances safety and exploitability. The opponent’s strategy is modeled with a set of possible strategies that contains the actual one with high probability. The algorithm i...

Racket Control and Spinning Ball Measurement for Table Tennis Robot

Playing ‘Sticky Hands’ With A Humanoid Robot

‘Sticky Hands’ is an exercise for two participants requiring them to maintain a gentle hand to hand contact. The intention is to explore graceful and relaxed motion together, develop physical sensitivity and responsiveness, and interact at a comfortably intimate level for physical relaxation and spiritual development. We present a system allowing a person to perform this novel interaction with ...

Playing Tangram with a Humanoid Robot

An open question in the area of social robot interaction is how to design test scenarios that on one hand provide the required complexity and on the other hand are still describable. The tabletop game Tangram has been selected as a test scenario for human-robot interaction. This paper describes how the required skills, to enable the humanoid robot ROMAN to play the game, have been ralized. Expe...

Toni: A Soccer Playing Humanoid Robot

This paper describes the humanoid robot Toni that has been designed to play soccer in the RoboCup Humanoid League. The paper details Toni’s mechanical and electrical design, perception, self localization, behavior control, and infrastructure. Toni is fully autonomous, has a low weight (2.2kg), and is much taller (74cm) than most servo-driven humanoid robots. It has a wide field of view camera, ...