Playing Catch and Juggling with a Humanoid Robot

Project Members

Jens Kober (Disney Research Pittsburgh, Bielefeld University, Germany)
Matt Glisson (Disney Research Pittsburgh)
Michael Mistry (Disney Research Pittsburgh)

Robots in entertainment environments typically do not allow for physical interaction and contact with people. However, catching and throwing back objects is one form of physical engagement that still maintains a safe distance between the robot and participants. Using an animatronic humanoid robot, we developed a test bed for a throwing and catching game scenario. We use an external camera system (ASUS Xtion PRO LIVE) to locate balls and a Kalman filter to predict ball destination and timing. The robot’s hand and joint-space are calibrated to the vision coordinate system using a least-squares technique, such that the hand can be positioned to the predicted location. Successful catches are thrown back two and a half meters forward to the participant, and missed catches are detected to trigger suitable animations that indicate failure. Human to robot partner juggling (three ball cascade pattern, one hand for each partner) is also achieved by speeding up the catching/throwing cycle. We tested the throwing/catching system on six participants (one child and five adults, including one elderly), and the juggling system on three skilled jugglers.

Publications

Playing Catch and Juggling with a Humanoid Robot
November 29, 2012
proceedings at 2012 IEEE-RAS International Conference on Humanoid Robots; Nov 29 – Dec 1, 2012; Osaka, Japan
Paper File [pdf, 3.01 MB]

Copyright Notice

The documents contained in these directories are included by the contributing authors as a means to ensure timely dissemination of scholarly and technical work on a non-commercial basis. Copyright and all rights therein are maintained by the authors or by other copyright holders, notwithstanding that they have offered their works here electronically. It is understood that all persons copying this information will adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.