Learning robot hitting motions with DS

References:

• S.M. Khansari-Zadeh, K. Kronander, and A. Billard (2012), Learning to Play Minigolf: A Dynamical System-based Approach, Advanced Robotics, vol. 26, num. 17, p. 1967-1993.


• K. Kronander, S.M. Khansari-Zadeh, and A. Billard (2011), Learning to Control Planar Hitting Motions in a Monigolf-like Task, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), Received the JTSC Novel Technology Paper Award.

General Scope:

This work is an extension to the SEDS approach that allows encoding a considerably wider set of tasks ranging from reaching movements to agile robot movements that require striking a given target with a specific speed and direction. This approach is validated in the context of playing the challenging task of minigolf.

Figure Playing minigolf on an advance field with the WAM arm using the proposed approach.

Videos:
- Part 1: Teaching robots how to swing a golf club:

- Part 2: Teaching Barrett WAM arm to play mini golf on a challenging field: