Abstract
Our focus is on creating interesting and human-like behaviors for humanoid robots and virtual characters. Interactive behaviors are especially engaging. They are also challenging, as they necessitate finding satisfactory realtime solutions for complex systems such as the 30-degree-of-freedom humanoid robot in our laboratory. Here we describe a catching behavior between a person and a robot. We generate ball-hand impact predictions based on the flight of the ball, and human-like motion trajectories to move the hand to the catch position. We use a dynamical systems approach to produce the motion trajectories where new movements are generated from motion primitives as they are needed.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Atkeson, C.G. and Schaal, S. 1997. Robot learning from demonstration. In Machine Learning: Proceedings of the Fourteenth International Conference (ICML'97), Douglas H. Fisher, Jr. (Ed.), Morgan Kaufmann: San Francisco, CA, pp. 12–20.
Buehler, M., Koditschek, D.E., and Kindlmann, P.J. 1994. Planning and control of robotic juggling and catching tasks. International Journal of Robotics Research, 13(2):101–108.
Burridge, R.R., Rizzi, A.A., and Koditschek, D.E. 1995. Toward a dynamical pick and place. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 95, 2:292–297.
Buttazzo, G.C., Allotta, B., and Fanizza, F.P. 1994. Mousebuster: A robot for real-time catching. IEEE Control Systems Magazine, 14(1):49–56.
Flash, T. and Hogan, N. 1985. The coordination of arm movements: An experimentally confirmed mathematical model. Journal of Neuroscience, 5:1688–1703.
Gleicher, M. 1998. Retargeting motion to new characters. In Computer Graphics, Proc. SIGGRAPH '98, pp. 33–42.
Hodgins, J.K. and Pollard, N.S. 1997. Adapting simulated behaviors for new characters. In Computer Graphics, Proc. SIGGRAPH 97, Los Angeles, CA.
Hove, B. and Slotine, J.-J.E. 1991. Experiments in robotic catching. In Proc. IEEE American Control Conference, Boston, MA, pp. 380–385.
Kajikawa, S., Saito, M., Ohba, K., and Inooka, H. 1999. Analysis of human arm movement for catching a moving object. In Proc. IEEE Conference on Systems, Man, and Cybernetics, Tokyo, Japan, pp. 698–708.
Lynch, K.M. and Mason, M.T. 1999. Dynamic nonprehensile manipulation: Controlability, planning, and experiments. International Journal of Robotics Research, 18(1):64–92.
Mehrandezh, M., Sela, N.M., Fenton, R.G., and Banhabib, B. 2000. Robotic interception of moving objects using an augmented ideal proportional navigation guidance technique. IEEE Transactions on Systems, Man, and Cybernetics, 30(3):238–250.
Miyamoto, H., Schaal, S., Gandolfo, F., Gomi, H., Koike, Y., Osu, R., Nakano, E., Wada, Y., and Kawato, M. 1996. A Kendama learning robot based on bi-directional theory. Neural Networks, 9:1281–1302.
Nakanishi, J., Fukuda, T., and Koditschek, D.E. 2000. A brachiating robot controller. IEEE Transactions on Robotics and Automation, 16(2):109–123.
Nakano, E., Imamizu, H., Osu, R., Uno, Y., Gomi, H., Yoshioka, T., and Kawato, M. 1999. Quantitative examinations of internal representations for arm trajectory planning: Minimum commanded torque change model. Journal of Neurophysiology, 81:2140–2155.
Nass, C., Steuer, J., and Tauber, E. 1994. Computers are social actors. In Proc. CHI '94, pp. 72–78.
Nishiwaki, K., Konno, A., Nagashima, K., Inaba, M., and Inoue, H. 1997. The humanoid saika that catches a thrown ball. In Proceedings of the 6th IEEE InternationalWorkshop on Robot And Human Communication, pp. 94–99.
Riley, M., Ude, A., and Atkeson, C.G. 2000. Methods for motion generation and interaction with a humanoid robot: Case studies of dancing and catching. In Proc. AAAI andCMUWorkshop on Interactive Robotics and Entertainment 2000, Pittsburgh, PA, pp. 35–42.
Rizzi, A.A. and Koditschek, D.E. 1996. An active visual estimator for dextrous manipulation. IEEE Transactions on Robotics and Automation, 12(5):697–713.
Sakaguchi, T., Masutani, Y., and Miyazaki, F. 1991. A study on juggling task. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 91, pp. 1418–1423.
Sakaguchi, T., Fujita, M., Watanabe, H., and Miyazaki, F. 1993. Motion planning and control for a robot performer. In IEEE International Conference on Robotics and Automation, pp. 925–931.
Sakaguchi, T. and Miyazaki, F. 1994. Dynamic manipulation of ballin-cup game. In IEEE International Conference on Robotics and Automation, pp. 2941–2948.
Sato, S., Sakaguchi, T., Masutani, Y., and Miyazaki, F. 1994. Mastering a task with interaction between robot and its environment (kendama task). J. Advanced Automation Technology, 6(1):34–41.
Schaal, S. in preparation. The SL simulation and real-time control software package.
Schaal, S. and Atkeson, C.G. 1993. Open loop stable control strategies for robot juggling. In IEEE International Conference on Robotics and Automation, 3:913–918.
Schaal, S., Atkeson, C.G., and Botros, S. 1992. What should be learned? In Seventh Yale Workshop on Adaptive and Learning Systems, New Haven, CT, pp. 199–204.
Schaal, S. and Sternad, D. 1998. Programmable pattern generators. In International Conference on Computational Intelligence in Neuroscience (ICCIN'98), Research Triangle Park, NC, pp. 48–51.
Sloman, A. and Croucher, M. 1981. Why robots will have emotions. In Proc. 7th International Joint Conference on Artificial Intelligence, Vancouver.
Spong, M.W. 1994. Swing up control of the acrobot. In IEEE International Conference on Robotics and Automation, pp. 2356–2361.
Takenaka, K. 1984. Dynamical control of manipulator with vision (cup and ball game demonstrated by robot). The Transactions of the Japan Society of Mechanical Engineers, C; 50.
Tevatia, G. and Schaal, S. 2000. Inverse kinematics for humanoid robots. In Proc. IEEE International Conference on Robotics and Automation, San Francisco, CA.
Ude, A., Atkeson, C.G., and Riley, M. 2000. Planning of joint trajectories for humanoid robots using B-spline wavelets. In IEEE Conference on Robotics and Automation, San Francisco, CA.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Riley, M., Atkeson, C.G. Robot Catching: Towards Engaging Human-Humanoid Interaction. Autonomous Robots 12, 119–128 (2002). https://doi.org/10.1023/A:1013223328496
Issue Date:
DOI: https://doi.org/10.1023/A:1013223328496