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Catching a Ball
Robotics and Mechatronics Center
Institute of Robotics and Mechatronics
Institute of System Dynamics and Control
Institute for Optical Sensor Systems
Hand Arm System
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Aircraft Systems Dynamics
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Industrial Robot Control
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The DLR Ball Catcher
The DLR Robotic Ballcatcher was developed to demonstrate the dynamical capabilities of the DLR light-weight arm and hand. The robot can catch a ball, that is thrown onto the robot by a benevolent thrower. The ball is observed by a large baseline stereo camera, comparing each image to a slowly adapting reference mage. We track and predict the target position using an Extended Kalman Filter (EKF), also taking into account the air drag. The calibration is achieved by simply performing a few throws and observing their trajectories, as well as moving the robot to some predefined positions.
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