Robot juggles two ping-pong balls
Robot juggles using optimal control in real-time: http://notebook.kulchenko.com/jugglin…
robot juggling optimal control
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cool stuff but whats the practical, future applications? excuse my ignorance in computer science/hardware engineering, but isnt the algorithm just essentially : track ball -> calculate landing -> move paddle there -> raise in z-coord. by some scalar, k (the random stuff that you describe, ie exert force which is back-calculated). this is probably much easier said than done, but? im just curious.
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Would it be possible to apply this system, in? a similar fashion, for actually playing a game of ping-pong?
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It’s amazing to see a robot go in panic mode.
How do you compensate the lack of tilt? I? don’t quite get that.
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@mcbraynor THAT is the question!
There are definitely? improvements that can be made like creating a better model, or optimizing cost function parameters, or taking into accoung actual (projected) trajectories and re-calculating if they intersect (talking ball size into account). We may continue working with this robot, but it’s also likely we switch to a different platform that has manipulators with more degrees of freedom. I this this robot (and our approach) is capable of juggling 2 balls.
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y? ahora llegan los espanoles con los comentarios incultos!!! menos mal que no todos los espanoles somos tan simples. Esto lo hacen los ingenieros en sus ratos libres, asiq echadle un poco de imaginacion al asunto y no seamos tan simples!
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very impressive pardon my ignorance but i? think the algorithm seems to take both the balls and put them at the same location at the same time i.e in the center so there is less manuvering that is required while trying to bring them both to the same frequency and amplitude of oscillation therefore colliding them … again i could be way off but this is really freeking cool
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I’m really amused by this,? I wonder if it can juggle 3 balls xD
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@paulclinger I see.? Thank you.
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@blumtop It is certainly a possibility. It probably wouldn’t juggle forever, but I recorded several sequences longer than 12 minutes and it could easily continue, but I was too impatient and wanted to try different sets? of parameters. You can actually see on the other video in my profile that it juggles quite reliably.
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@Nashblackcat Right; that’s Delta haptic robot that is used in manufactoring for it’s speed, precision and compactness?
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1:11 Balls touching?
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