Robot Catching
نویسندگان
چکیده
Our focus is on creating interesting, realistic behaviors for humanoid robots and virtual characters. Among the methods we use to create human-like movements are a template-based approach, where example movements from humans are stored for later use, and a dynamical systems approach where new movements are generated from motion primitives as they are needed. Here we discuss a dynamical systems approach for implementing ball catching for a 30-degree-of-freedom humanoid robot. In our catching task, we generate ballhand impact predictions and human-like motion trajectories to move the hand to the impact position. We also discuss what is necessary to use a template-based approach to generate behaviors.
منابع مشابه
Examination of ball tracking and catching task using a monocular vision-based mobile robot
This paper presents an implementation of a ball catching task using a monocular vision-based mobile robot. We have proposed a motion strategy for catching a ball flying in three-dimensional space. This strategy has its roots in the field of experimental psychology but is more powerful and concentrated on a robot. A practical trajectory control law is derived for a non-holonomic mobile robot to ...
متن کاملRobotic catching using a direct mapping from visual information to motor command
In this paper a robotic catching algorithm based on a nonlinear mapping of visual information to the desired trajectory is proposed. The nonlinear mapping is optimized by learning based on constraints of dynamics and kinematics. As a result a reactive and flexible motion is obtained owing to real-time high-speed visual information. Experimental results on catching a moving object using a high-s...
متن کاملMethods for Motion Generation and Interaction with a Humanoid Robot: Case Studies of Dancing and Catching
We focus on creating realistic, adaptable movement for humanoid robots and virtual characters. Here we present motion synthesis of dance movements for a humanoid robot, and interactive behavior for catching. Our approach to motion generation includes collection of example human movements, handling of marker occlusion, extraction of motion parameters, and trajectory generation, all of which must...
متن کاملMousebuster: A Robot System for Catching Fast Moving Objects by Vision
In this paper we describe a control methodology for catching a fast moving object with a robot manipulator, where visual information is employed to track the trajectory of the target. Sensing, planning and control are performed in real-time to cope with possible unpredictable trajectory changes of the moving target, and prediction techniques are adopted to compensate the time delays introduced ...
متن کاملA Prey Catching and Predator Avoidance Neural-Schema Architecture for Single and Multiple Robots
The paper presents a biologically-inspired multi-level neural-schema architecture for prey catching and predator avoidance in single and multiple autonomous robotic systems. The architecture is inspired on anuran (frogs and toads) neuroethological studies and wolf pack group behaviors. The single robot architecture exploits visuomotor coordination models developed to explain anuran behavior in ...
متن کامل