Kinematically optimal catching a flying ball with a hand-arm-system
Abstract
A robotic ball-catching system built from a multi-purpose 7-DOF lightweight arm (DLR-LWR-III) and a 12 DOF four-fingered hand (DLR-Hand-II) is presented. Other than in previous work a mechatronically complex dexterous hand is used for grasping the ball and the decision of where, when and how to catch the ball, while obeying joint, speed and work cell limits, is formulated as an unified nonlinear optimization problem with nonlinear constraints. Three different objective functions are implemented, leading to significantly different robot movements. The high computational demands of an online realtime optimization are met by parallel computation on distributed computing resources (a cluster with 32 CPU cores). The system achieves a catch rate of > 80% and is regularly shown as a live demo at our institute.
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A real-time optimization method for robotic catching to avoid self-collisions and environment-collisions, avoid joint limits, and find smooth joint angle trajectories requires a large amount of computational power; Bauml et al. [4] use an external 32-core high-performance computer in a ball catching experiment.
“Recently, a real-time optimization method was applied to a robotic catching task to avoid self-collisions and environment-collisions, to avoid joint limits (position and velocity), and to find smooth joint angle trajectories. However, it requires a large amount of computational power (Bauml et al. [4] use external 32-core high-performance computer in a ball catching experiment).”
From Catching Objects in Flight (2014) · cites this paper as Bauml et al. [4]
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- Authors
- Bauml, B., Wimbock, T., & Hirzinger, G.
- Affiliations
- Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR) (DE)
- Venue
- 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
- Publisher
- IEEE
- Published
- 2010-10
- Pages
- 2592-2599
- ISSN
- 2153-0858 (ISSN-L)
- OpenAlex
- W2040227765
- Cited by
- 113
- References
- 23
- Citations by year
- 2026: 1 · 2025: 5 · 2024: 10 · 2023: 6 · 2022: 7 · 2021: 14 · 2020: 8 · 2019: 5 · 2018: 8 · 2017: 6 · 2016: 4 · 2015: 7 · 2014: 7 · 2013: 5 · 2012: 12
- FWCI
- 14.19
- Type
- conference paper
- Language
- en
- Open access
- closed
- Locations
- IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (publishedVersion)
- elib (German Aerospace Center) (acceptedVersion)
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Robotic Mechanisms and Dynamics
- Physical Sciences › Engineering › Control and Systems Engineering › Robot Manipulation and Learning
- Physical Sciences › Engineering › Biomedical Engineering › Soft Robotics and Applications
- Keywords
- hand-arm system, dexterous robotic hand, nonlinear programming, kinematic optimization, real-time optimization, parallel computing, distributed computing, grasping, motion planning
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