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Erschienen in:
2013 | OriginalPaper | Buchkapitel
JediBot – Experiments in Human-Robot Sword-Fighting
verfasst von : Torsten Kröger, Ken Oslund, Tim Jenkins, Dan Torczynski, Nicholas Hippenmeyer, Radu Bogdan Rusu, Oussama Khatib
Erschienen in: Experimental Robotics
Verlag: Springer International Publishing
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Real-world sword-fighting between human opponents requires extreme agility, fast reaction time, and dynamic perception capabilities. In this paper, we present experimental results achieved with a 3D vision system and a highly reactive control architecture which allows a robot to sword fight against human opponents. An online trajectory generator is used as an intermediate layer between low-level trajectory-following controllers and high-level visual perception. This architecture allows robots to react nearly instantaneously to the unpredictable human motions perceived by the vision system as well as to sudden sword contacts detected by force and torque sensors. Results show how smooth and highly dynamic motions are generated on-the-fly while using the vision and force/torque sensor signals in the feedback loops of the robot motion controller.