Efficient and Reactive Planning for High Speed Robot Air Hockey

Highly dynamic robotic tasks require high-speed and reactive robots. These tasks are particularly challenging due to the physical constraints, hardware limitations, and the high uncertainty of dynamics and sensor measures. To face these issues, it's crucial to design robotics agents that genera...

Full description

Saved in:
Bibliographic Details
Main Authors: Liu, Puze, Tateo, Davide, Bou-Ammar, Haitham, Peters, Jan
Format: Conference Proceeding
Language:English
Subjects:
Games
Robot sensing systems
Robots
Service robots
Task analysis
Trajectory
Uncertainty
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
cited_by
cites
container_end_page 593
container_issue
container_start_page 586
container_title
container_volume
creator Liu, Puze
Tateo, Davide
Bou-Ammar, Haitham
Peters, Jan
description Highly dynamic robotic tasks require high-speed and reactive robots. These tasks are particularly challenging due to the physical constraints, hardware limitations, and the high uncertainty of dynamics and sensor measures. To face these issues, it's crucial to design robotics agents that generate precise and fast trajectories and react immediately to environmental changes. Air hockey is an example of this kind of task. Due to the environment's characteristics, it is possible to formalize the problem and derive clean mathematical solutions. For these reasons, this environment is perfect for pushing to the limit the performance of currently available general-purpose robotic manipulators. Using two Kuka Iiwa 14, we show how to design a policy for general-purpose robotic manipulators for the air hockey game. We demonstrate that a real robot arm can perform fast-hitting movements and that the two robots can play against each other on a medium-size air hockey table in simulation.
doi_str_mv 10.1109/IROS51168.2021.9636263
format conference_proceeding
fullrecord <record><control><sourceid>ieee_CHZPO</sourceid><recordid>TN_cdi_ieee_primary_9636263</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>9636263</ieee_id><sourcerecordid>9636263</sourcerecordid><originalsourceid>FETCH-LOGICAL-i203t-3bc4716c90cca7b581e7b492d91429ba15065bced3366e2c77b57b8a0c84ef643</originalsourceid><addsrcrecordid>eNotj9tKAzEURaMgWGu_QJD8wIw5uZwkT1JKtYVCpdXnkmTO1GidKTOD0L-3YJ8WbBYbFmOPIEoA4Z-Wm_XWAKArpZBQelQoUV2xO0A0Gixoc81GEowqhEO8ZZO-_xJCgLDeeRyx53ld55SpGXhoKr6hkIb8S_ztEJomN3tetx1f5P0n3x6JzkIb24FP83ls0zed7tlNHQ49TS4cs4-X-ftsUazWr8vZdFVkKdRQqJi0BUxepBRsNA7IRu1l5UFLHwMYgSYmqpRCJJns2bHRBZGcphq1GrOH_99MRLtjl39Cd9pdetUf9oRJEg</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>Efficient and Reactive Planning for High Speed Robot Air Hockey</title><source>IEEE Xplore All Conference Series</source><creator>Liu, Puze ; Tateo, Davide ; Bou-Ammar, Haitham ; Peters, Jan</creator><creatorcontrib>Liu, Puze ; Tateo, Davide ; Bou-Ammar, Haitham ; Peters, Jan</creatorcontrib><description>Highly dynamic robotic tasks require high-speed and reactive robots. These tasks are particularly challenging due to the physical constraints, hardware limitations, and the high uncertainty of dynamics and sensor measures. To face these issues, it's crucial to design robotics agents that generate precise and fast trajectories and react immediately to environmental changes. Air hockey is an example of this kind of task. Due to the environment's characteristics, it is possible to formalize the problem and derive clean mathematical solutions. For these reasons, this environment is perfect for pushing to the limit the performance of currently available general-purpose robotic manipulators. Using two Kuka Iiwa 14, we show how to design a policy for general-purpose robotic manipulators for the air hockey game. We demonstrate that a real robot arm can perform fast-hitting movements and that the two robots can play against each other on a medium-size air hockey table in simulation.</description><identifier>EISSN: 2153-0866</identifier><identifier>EISBN: 1665417145</identifier><identifier>EISBN: 9781665417143</identifier><identifier>DOI: 10.1109/IROS51168.2021.9636263</identifier><language>eng</language><publisher>IEEE</publisher><subject>Games ; Robot sensing systems ; Robots ; Service robots ; Task analysis ; Trajectory ; Uncertainty</subject><ispartof>2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, p.586-593</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/9636263$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,23930,23931,25140,27925,54555,54932</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/9636263$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Liu, Puze</creatorcontrib><creatorcontrib>Tateo, Davide</creatorcontrib><creatorcontrib>Bou-Ammar, Haitham</creatorcontrib><creatorcontrib>Peters, Jan</creatorcontrib><title>Efficient and Reactive Planning for High Speed Robot Air Hockey</title><title>2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</title><addtitle>IROS</addtitle><description>Highly dynamic robotic tasks require high-speed and reactive robots. These tasks are particularly challenging due to the physical constraints, hardware limitations, and the high uncertainty of dynamics and sensor measures. To face these issues, it's crucial to design robotics agents that generate precise and fast trajectories and react immediately to environmental changes. Air hockey is an example of this kind of task. Due to the environment's characteristics, it is possible to formalize the problem and derive clean mathematical solutions. For these reasons, this environment is perfect for pushing to the limit the performance of currently available general-purpose robotic manipulators. Using two Kuka Iiwa 14, we show how to design a policy for general-purpose robotic manipulators for the air hockey game. We demonstrate that a real robot arm can perform fast-hitting movements and that the two robots can play against each other on a medium-size air hockey table in simulation.</description><subject>Games</subject><subject>Robot sensing systems</subject><subject>Robots</subject><subject>Service robots</subject><subject>Task analysis</subject><subject>Trajectory</subject><subject>Uncertainty</subject><issn>2153-0866</issn><isbn>1665417145</isbn><isbn>9781665417143</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2021</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNotj9tKAzEURaMgWGu_QJD8wIw5uZwkT1JKtYVCpdXnkmTO1GidKTOD0L-3YJ8WbBYbFmOPIEoA4Z-Wm_XWAKArpZBQelQoUV2xO0A0Gixoc81GEowqhEO8ZZO-_xJCgLDeeRyx53ld55SpGXhoKr6hkIb8S_ztEJomN3tetx1f5P0n3x6JzkIb24FP83ls0zed7tlNHQ49TS4cs4-X-ftsUazWr8vZdFVkKdRQqJi0BUxepBRsNA7IRu1l5UFLHwMYgSYmqpRCJJns2bHRBZGcphq1GrOH_99MRLtjl39Cd9pdetUf9oRJEg</recordid><startdate>20210927</startdate><enddate>20210927</enddate><creator>Liu, Puze</creator><creator>Tateo, Davide</creator><creator>Bou-Ammar, Haitham</creator><creator>Peters, Jan</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>20210927</creationdate><title>Efficient and Reactive Planning for High Speed Robot Air Hockey</title><author>Liu, Puze ; Tateo, Davide ; Bou-Ammar, Haitham ; Peters, Jan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i203t-3bc4716c90cca7b581e7b492d91429ba15065bced3366e2c77b57b8a0c84ef643</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2021</creationdate><topic>Games</topic><topic>Robot sensing systems</topic><topic>Robots</topic><topic>Service robots</topic><topic>Task analysis</topic><topic>Trajectory</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>Liu, Puze</creatorcontrib><creatorcontrib>Tateo, Davide</creatorcontrib><creatorcontrib>Bou-Ammar, Haitham</creatorcontrib><creatorcontrib>Peters, Jan</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEL</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Liu, Puze</au><au>Tateo, Davide</au><au>Bou-Ammar, Haitham</au><au>Peters, Jan</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Efficient and Reactive Planning for High Speed Robot Air Hockey</atitle><btitle>2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)</btitle><stitle>IROS</stitle><date>2021-09-27</date><risdate>2021</risdate><spage>586</spage><epage>593</epage><pages>586-593</pages><eissn>2153-0866</eissn><eisbn>1665417145</eisbn><eisbn>9781665417143</eisbn><abstract>Highly dynamic robotic tasks require high-speed and reactive robots. These tasks are particularly challenging due to the physical constraints, hardware limitations, and the high uncertainty of dynamics and sensor measures. To face these issues, it's crucial to design robotics agents that generate precise and fast trajectories and react immediately to environmental changes. Air hockey is an example of this kind of task. Due to the environment's characteristics, it is possible to formalize the problem and derive clean mathematical solutions. For these reasons, this environment is perfect for pushing to the limit the performance of currently available general-purpose robotic manipulators. Using two Kuka Iiwa 14, we show how to design a policy for general-purpose robotic manipulators for the air hockey game. We demonstrate that a real robot arm can perform fast-hitting movements and that the two robots can play against each other on a medium-size air hockey table in simulation.</abstract><pub>IEEE</pub><doi>10.1109/IROS51168.2021.9636263</doi><tpages>8</tpages></addata></record>
fulltext fulltext_linktorsrc
identifier EISSN: 2153-0866
ispartof 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, p.586-593
issn 2153-0866
language eng
recordid cdi_ieee_primary_9636263
source IEEE Xplore All Conference Series
subjects Games
Robot sensing systems
Robots
Service robots
Task analysis
Trajectory
Uncertainty
title Efficient and Reactive Planning for High Speed Robot Air Hockey
url http://sfxeu10.hosted.exlibrisgroup.com/loughborough?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-01-04T10%3A22%3A03IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_CHZPO&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=Efficient%20and%20Reactive%20Planning%20for%20High%20Speed%20Robot%20Air%20Hockey&rft.btitle=2021%20IEEE/RSJ%20International%20Conference%20on%20Intelligent%20Robots%20and%20Systems%20(IROS)&rft.au=Liu,%20Puze&rft.date=2021-09-27&rft.spage=586&rft.epage=593&rft.pages=586-593&rft.eissn=2153-0866&rft_id=info:doi/10.1109/IROS51168.2021.9636263&rft.eisbn=1665417145&rft.eisbn_list=9781665417143&rft_dat=%3Cieee_CHZPO%3E9636263%3C/ieee_CHZPO%3E%3Cgrp_id%3Ecdi_FETCH-LOGICAL-i203t-3bc4716c90cca7b581e7b492d91429ba15065bced3366e2c77b57b8a0c84ef643%3C/grp_id%3E%3Coa%3E%3C/oa%3E%3Curl%3E%3C/url%3E&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=9636263&rfr_iscdi=true