TY - GEN
T1 - Playing pool with a dual-armed robot
AU - Nierhoff, Thomas
AU - Kourakos, Omiros
AU - Hirche, Sandra
PY - 2011
Y1 - 2011
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84871673517&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980204
DO - 10.1109/ICRA.2011.5980204
M3 - Conference contribution
AN - SCOPUS:84871673517
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3445
EP - 3446
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -