JediBot – Experiments in Human-Robot Sword-Fighting

  • Torsten KrögerEmail author
  • Ken Oslund
  • Tim Jenkins
  • Dan Torczynski
  • Nicholas Hippenmeyer
  • Radu Bogdan Rusu
  • Oussama Khatib
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 88)


Real-world sword-fighting between human opponents requires extreme agility, fast reaction time, and dynamic perception capabilities. In this paper, we present experimental results achieved with a 3D vision system and a highly reactive control architecture which allows a robot to sword fight against human opponents. An online trajectory generator is used as an intermediate layer between low-level trajectory-following controllers and high-level visual perception. This architecture allows robots to react nearly instantaneously to the unpredictable human motions perceived by the vision system as well as to sudden sword contacts detected by force and torque sensors. Results show how smooth and highly dynamic motions are generated on-the-fly while using the vision and force/torque sensor signals in the feedback loops of the robot motion controller.


Torque Sensor Defense Line Motion Library Arbitrary Switching Random Sample Consensus 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2013

Authors and Affiliations

  • Torsten Kröger
    • 1
    Email author
  • Ken Oslund
    • 1
  • Tim Jenkins
    • 1
  • Dan Torczynski
    • 1
  • Nicholas Hippenmeyer
    • 1
  • Radu Bogdan Rusu
    • 2
  • Oussama Khatib
    • 1
  1. 1.Artificial Intelligence LaboratoryStanford UniversityStanfordUSA
  2. 2.Open Perception, Inc.Menlo ParkUSA

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