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Simulating Human Table Tennis with a Biomimetic Robot Setup

2010

Conference Paper

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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.

Author(s): Mülling, K. and Kober, J. and Peters, J.
Book Title: From Animals to Animats 11
Journal: From Animals to Animats 11: Eleventh International Conference on the Simulation of Adaptive Behavior (SAB 2010)
Pages: 273-282
Year: 2010
Month: August
Day: 0
Editors: Doncieux, S. , B. Girard, A. Guillot, J. Hallam, J.-A. Meyer, J.-B. Mouret
Publisher: Springer

Department(s): Empirical Inference
Bibtex Type: Conference Paper (inproceedings)

Address: Berlin, Germany
Digital: 0
DOI: 10.1007/978-3-642-15193-4_26
Event Name: 11th International Conference on Simulation of Adaptive Behavior (SAB 2010)
Event Place: Paris, France
ISBN: 978-3-642-15193-4
Language: en
Organization: Max-Planck-Gesellschaft
School: Biologische Kybernetik

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BibTex

@inproceedings{6626,
  title = {Simulating Human Table Tennis with a Biomimetic Robot Setup},
  author = {M{\"u}lling, K. and Kober, J. and Peters, J.},
  journal = {From Animals to Animats 11: Eleventh International Conference on the Simulation of Adaptive Behavior (SAB 2010)},
  booktitle = {From Animals to Animats 11},
  pages = {273-282},
  editors = {Doncieux, S. , B. Girard, A. Guillot, J. Hallam, J.-A. Meyer, J.-B. Mouret},
  publisher = {Springer},
  organization = {Max-Planck-Gesellschaft},
  school = {Biologische Kybernetik},
  address = {Berlin, Germany},
  month = aug,
  year = {2010},
  month_numeric = {8}
}