Gambit: An Autonomous Chess-Playing Robotic System

摘要：

This paper presents Gambit, a custom, mid-cost 6- DoF robot manipulator system that can play physical board games against human opponents in non-idealized environments. Historically, unconstrained robotic manipulation in board games has often proven to be more challenging than the underlying game reasoning, making it an ideal testbed for small-scale manipulation. The Gambit system includes a low-cost Kinectstyle visual sensor, a custom manipulator, and state-of-the-art learning algorithms for automatic detection and recognition of the board and objects on it. As a use-case, we describe playing chess quickly and accurately with arbitrary, uninstrumented boards and pieces, demonstrating that Gambit’s engineering and design represent a new state-of-the-art in fast, robust tabletop manipulation.

关键词： Mechanism Design of Manipulators Physical Human Robot Interaction

作者: Cynthia Matuszek Dieter Fox Brian Mayton Roberto Aimi Marc Peter Deisenroth Liefeng Bo Robert Chu Mike Kung Louis LeGrand Joshua R. Smith

作者单位: Dept. of Computer Science & Engineering,University of Washington,Seattle,WA Dept. of Computer Science & Engineering,University of Washington,Seattle,WA Intel Labs Seattle,Seatt MIT Media Lab,Cambridge,MA Alium Labs LLC Intel Labs Seattle,Seattle,WA Dept. of Computer Science & Engineering,University of Washington,Seattle,WA Dept. of Electrical Engi

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4291-4297

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）