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Dynamic Rebound Control and Human Robot Interaction of a Ball Playing Robot

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Formal Modeling and Verification of Cyber-Physical Systems

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Abstract

Building a ball playing entertainment robot with the main contribution of a task level optimal control which handles trajectory planning and optimal control in a single controller and takes redundancy and elasticity into account. For faster actuation the feedback gain is used and the controller distributes into two parts. Human-Robot- Interaction(HRI) completes the entertainment aspect.

This work was supported by the Graduate School SyDe, funded by the German Excellence Initiative within the University of Bremen’s institutional strategy.

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Authors and Affiliations

  1. University of Bremen, Bremen, Germany

    Dennis Schüthe & Udo Frese (PhD advisor)

Authors
  1. Dennis Schüthe
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  2. Udo Frese
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Correspondence to Dennis Schüthe .

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Editors and Affiliations

  1. University of Bremen, Bremen, Germany

    Rolf Drechsler

  2. University of Bremen, Bremen, Germany

    Ulrich Kühne

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Schüthe, D., Frese, U. (2015). Dynamic Rebound Control and Human Robot Interaction of a Ball Playing Robot. In: Drechsler, R., Kühne, U. (eds) Formal Modeling and Verification of Cyber-Physical Systems. Springer Vieweg, Wiesbaden. https://doi.org/10.1007/978-3-658-09994-7_19

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  • DOI: https://doi.org/10.1007/978-3-658-09994-7_19

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  • Publisher Name: Springer Vieweg, Wiesbaden

  • Print ISBN: 978-3-658-09993-0

  • Online ISBN: 978-3-658-09994-7

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