Towards Dynamic Manipulation on an Anthropomorphic Robotic Table Tennis Platform
Specialized robots whose morphologies address narrow tasks are capable of super-human precision, speed, and accuracy. However, with generalized anthropomorphic designs coming to the forefront of robotics, we have yet to achieve parity with the best human performance on these platforms, particularly...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2024
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| Online Access: | https://hdl.handle.net/1721.1/155886 |
| _version_ | 1826200796822241280 |
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| author | Cancio, Kendrick D. |
| author2 | Kim, Sangbae |
| author_facet | Kim, Sangbae Cancio, Kendrick D. |
| author_sort | Cancio, Kendrick D. |
| collection | MIT |
| description | Specialized robots whose morphologies address narrow tasks are capable of super-human precision, speed, and accuracy. However, with generalized anthropomorphic designs coming to the forefront of robotics, we have yet to achieve parity with the best human performance on these platforms, particularly in dynamic manipulation which encompasses tasks such as throwing, catching, and striking. This thesis documents work towards an enabled robotic table tennis platform that will allow the development of planning and control algorithms for dynamic manipulation. Specifically, a fully integrated hardware platform is presented with two candidate vision systems and a 5 DOF anthropomorphic robotic arm. A dynamics model of the ball is introduced and validated for predicting the trajectory of the ball. To strike the ball, a nonlinear trajectory optimization problem is formulated for the arm and shown to be capable of generating various types of swings. This formulation is applied to the lower 4 DOF case by additionally considering the timing of the strike. Finally, nominal ball striking is demonstrated on hardware for the case of planar ball trajectories. |
| first_indexed | 2024-09-23T11:41:56Z |
| format | Thesis |
| id | mit-1721.1/155886 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T11:41:56Z |
| publishDate | 2024 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1558862024-08-02T03:36:19Z Towards Dynamic Manipulation on an Anthropomorphic Robotic Table Tennis Platform Cancio, Kendrick D. Kim, Sangbae Massachusetts Institute of Technology. Department of Mechanical Engineering Specialized robots whose morphologies address narrow tasks are capable of super-human precision, speed, and accuracy. However, with generalized anthropomorphic designs coming to the forefront of robotics, we have yet to achieve parity with the best human performance on these platforms, particularly in dynamic manipulation which encompasses tasks such as throwing, catching, and striking. This thesis documents work towards an enabled robotic table tennis platform that will allow the development of planning and control algorithms for dynamic manipulation. Specifically, a fully integrated hardware platform is presented with two candidate vision systems and a 5 DOF anthropomorphic robotic arm. A dynamics model of the ball is introduced and validated for predicting the trajectory of the ball. To strike the ball, a nonlinear trajectory optimization problem is formulated for the arm and shown to be capable of generating various types of swings. This formulation is applied to the lower 4 DOF case by additionally considering the timing of the strike. Finally, nominal ball striking is demonstrated on hardware for the case of planar ball trajectories. S.M. 2024-08-01T19:03:44Z 2024-08-01T19:03:44Z 2024-05 2024-06-13T16:46:10.308Z Thesis https://hdl.handle.net/1721.1/155886 Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) Copyright retained by author(s) https://creativecommons.org/licenses/by-nc-nd/4.0/ application/pdf Massachusetts Institute of Technology |
| spellingShingle | Cancio, Kendrick D. Towards Dynamic Manipulation on an Anthropomorphic Robotic Table Tennis Platform |
| title | Towards Dynamic Manipulation on an Anthropomorphic Robotic Table Tennis Platform |
| title_full | Towards Dynamic Manipulation on an Anthropomorphic Robotic Table Tennis Platform |
| title_fullStr | Towards Dynamic Manipulation on an Anthropomorphic Robotic Table Tennis Platform |
| title_full_unstemmed | Towards Dynamic Manipulation on an Anthropomorphic Robotic Table Tennis Platform |
| title_short | Towards Dynamic Manipulation on an Anthropomorphic Robotic Table Tennis Platform |
| title_sort | towards dynamic manipulation on an anthropomorphic robotic table tennis platform |
| url | https://hdl.handle.net/1721.1/155886 |
| work_keys_str_mv | AT canciokendrickd towardsdynamicmanipulationonananthropomorphicrobotictabletennisplatform |