Playing Pool with a Dual-Armed Robot

摘要：

This video presents a robot capable of playing pool on a normal sized pool table using two arms. For successfully completing this task several issues need to be addressed, including the perception of relevant environment information, planning of actions and finally an efficient execution. The video outlines how the robot accurately locates the pool table, the balls on the table and the cue and subsequently plans the next shot. In order to improve the stroke speed, an optimization algorithm for the arm configuration is described. Finally, it is shown how all these modules are integrated to achieve a working two-handed robotic pool play.

作者: Thomas Nierhoff Omiros Kourakos Sandra Hirche

作者单位: Institute of Automatic Control Engineering (LSR),Faculty of Electrical Engineering,Technische Universit(a)t M(u)nchen,D-80290 M(u)nchen,Germany

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: 3445-3446

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）