Bridging of Models for Complex Movements in 3D
Most daily movements, like grasping a cup of coffee, playing tennis, or stirring a cup of soup with one hand while holding the cup with the other hand, are movements in 3D-space. Sometimes, these movements have to be fast, sometimes accurate, and sometimes they require a delicate level of force in specific directions. Trying to simulate these movements has proven to be extremely difficult as anyone in the robotics community can tell. If playing chess seems difficult, playing tennis is much more difficult. This may become obvious if one realizes that there are several computer programs for playing chess that can beat the world-champion chess. However, the present state-of-the-art in robotics is that we can build robots that can walk slowly on a more or less flat surface as long as there are not many obstacles. Building a robot that can play tennis is yet far too difficult.
There are several reasons why robots fail to reveal the same flexibility and complexity as movements of the human...
KeywordsMovement Trajectory Feedforward Control Tennis Player Tennis Ball Swing Movement
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