Playing pool with a dual-armed robot

Nierhoff, Thomas; Kourakos, Omiros; Hirche, Sandra

doi:10.1109/icra.2011.5980204

Cited by 11 publications

(8 citation statements)

References 3 publications

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“…[2,4,22] work with video (or video streams) taken from pool or snooker championships, with very stable and controlled conditions (lighting, player positions, etc. ), or expect a controlled environment because of the use of robots [5][6][7].…”

Section: Discussionmentioning

confidence: 99%

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Augmented reality system to assist inexperienced pool players

2016

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Pool and billiards are amongst a family of games played on a table with six pockets along the rails. This paper presents an augmented reality tool designed to assist unskilled or amateur players of such games. The system is based on a projector and a Kinect 2 sensor placed above the table, acquiring and processing the game on-the-fly. By using depth information and detecting the table's rails (borders), the balls' positions, the cue direction, and the strike of the ball, computations predict the resulting balls' trajectories after the shot is played. These resultstrajectories, visual effects, and menus-are visually output by the projector, making them visible on the snooker table. The system achieves a shot prediction accuracy of 98% when no bouncing occurs.

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Section: Discussionmentioning

confidence: 99%

“…Other research uses a robot capable of choosing and executing shots on a real table, although these robotic systems have been tested under laboratory conditions [5][6][7].…”

Section: State Of the Artmentioning

confidence: 99%

Augmented reality system to assist inexperienced pool players

2016

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“…Having mounted only one camera, fusioned data from robot-mounted laser rangefinder, arm pose data and ceiling camera is used for an accurate cue positioning behind the white ball. In order to execute a fast stroke without violating hardware constraints regarding motor current and joint velocity, the arm configuration is optimized before the stroke, see [23]. Out of 463 test strokes for random ball positions on the table, the robot succeeds in pocketing around 50% of all balls, and with a success rate of around 80% for the simplest shots (approx.…”

Section: Pool-playing Robotic Systemmentioning

confidence: 99%

“…In this case, R n n is a single scalar number representing the maximal percentage to pocket a ball p maxP for the robot respectively p maxO for the opponent. Subsequently, an optimization algorithm is used varying the stroke intensity µ |p| and stroke angle µ ψ variables of each node of the tree in order to solve (23). This problem is intractable within reasonable for large search trees as there are O((n s ) n ) variables to optimize for n s sampling points for each table and a search tree of depth n.…”

Section: B Planning Aheadmentioning

confidence: 99%

Strategic play for a pool-playing robot

Nierhoff

Heunisch

Hirche

2012

2012 IEEE Workshop on Advanced Robotics and Its Social Impacts (ARSO)

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Abstract-Playing pool is not a trivial task for an autonomous robotic system: In order to excel, the tight coupling of accurate perception, planning and highly dynamic while precise manipulation is required. To investigate scientific challenges arising from this tight coupling requirement an anthropomorphic robotic system has been developed, which is capable of playing pool. Focusing in this paper on the planning part, a wellcalibrated pool simulator is developed in order to predict the outcome of possible strokes. An optimization based framework applying a discounted return term is presented for suggesting an optimized next stroke by planning several strokes ahead. Different to existing planners so far, our planner considers the player's and opponent's skill. Therefore, strategic considerations (e.g. safety shots) can now be evaluated depending on the outcome of the next strokes for both player and opponent.

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“…Seu maior divulgador é o robô PR2 que mostra diversas implementações interessantes (Nierhoff et al, 2011) (Becker et al, 2011) de manipulação robótica utilizando o framework combinado a modernas técnicas de controle, processamento de imagem e processamento de informação. O ROS foi projetado para atender aplicações de robôs para serviço doméstico e manipulação móvel.…”

Section: Os Framework Existentes Para Manipulação Robóticaunclassified

Exploração de ambientes não estruturados através de manipulador robótico implementando controlador de impedância com parâmetros variáveis

Fernandes¹

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FERNANDES. G, Unstructured environment exploration using robotic manipulator performing impedance control with variable parameters. 2013. Thesis (Master) -Sao Carlos School of Engineering, Sao Paulo University, Sao Carlos, 2013.Robotic manipulation in unstructured environments is a major challenge to the research community. Great efforts are being directed to computational vision systems development and incredible outcome has been achieved. However, the information retrieved from vision systems is often incomplete, noisy or inaccurate due to technical limitations linked to the sensors used in such systems or the positioning of the system in the environment. Furthermore, few attention is been delivered to the application of tactile information to increase the information quality about the environment. This work presents an experimental study about the environment exploration using stable contact and impedance controlled manipulators. A framework for robotic manipulation is presented and this work is positioned in such framework in a tasks and subtasks style. The detailed information about the manipulator system and the implementation is also outlined including all the control levels and communication layers is also outlined. The work describes a series of experimental tests where the manipulator performs physical contact to the environment. The impedance control parameters are than changed aiming to analyse and determine their influence into the observed results. The contact stability and the following error are used as performance indicators. Following such experimental series, four impedance control parameter change strategies are proposed, tested and analysed when performing a task of touching the environment. The results are also compared to the results obtained from the fix parameter tests. The strategies objective is improve the contact stability ensuring a accurate measurement of the environment position. The results show a real improvement of the environment position measurement towards the same measurement when using fixed impedance control parameters. Finally, results from a repeatability test for the results of environment position measurement using the best approach proposed where presented. Such results are compared from the results achieved from vision systems and show a greater performance for the tactile environment exploration approach.

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Playing pool with a dual-armed robot

Cited by 11 publications

References 3 publications

Augmented reality system to assist inexperienced pool players

Augmented reality system to assist inexperienced pool players

Strategic play for a pool-playing robot

Exploração de ambientes não estruturados através de manipulador robótico implementando controlador de impedância com parâmetros variáveis

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