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Efficient and reactive planning for high speed robot air hockey

Liu, Puze ; Tateo, Davide LU orcid ; Bou-Ammar, Haitham and Peters, Jan (2021) 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021 In IEEE International Conference on Intelligent Robots and Systems p.586-593
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... (More)

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.

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Please use this url to cite or link to this publication:
author
; ; and
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
series title
IEEE International Conference on Intelligent Robots and Systems
pages
8 pages
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021
conference location
Prague, Czech Republic
conference dates
2021-09-27 - 2021-10-01
external identifiers
  • scopus:85124350677
ISSN
2153-0866
2153-0858
ISBN
9781665417143
DOI
10.1109/IROS51168.2021.9636263
language
English
LU publication?
no
id
a9e71a13-9932-4446-b99c-72676ea6f2a4
date added to LUP
2025-10-16 14:35:57
date last changed
2025-12-12 09:03:29
@inproceedings{a9e71a13-9932-4446-b99c-72676ea6f2a4,
  abstract     = {{<p>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.</p>}},
  author       = {{Liu, Puze and Tateo, Davide and Bou-Ammar, Haitham and Peters, Jan}},
  booktitle    = {{2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021}},
  isbn         = {{9781665417143}},
  issn         = {{2153-0866}},
  language     = {{eng}},
  pages        = {{586--593}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  series       = {{IEEE International Conference on Intelligent Robots and Systems}},
  title        = {{Efficient and reactive planning for high speed robot air hockey}},
  url          = {{http://dx.doi.org/10.1109/IROS51168.2021.9636263}},
  doi          = {{10.1109/IROS51168.2021.9636263}},
  year         = {{2021}},
}