Dr. Ing. Dennis Schüthe

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Doggy - The Ball Playing Robot

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Doggy is a 2.1m tall robot consisting of three revolute joints. We have a hip (yaw) axis, a pitch axis and a roll axis. The roll and pitch axis are describing a patially sphere, where the end-effector (the head) is moved on. The yaw axis turns the partially sphere , so it is possible to reach positions which would not be reachable only by axes for roll and pitch. As the axes intersect in one point we have a redundant degree of freedom.

The robot's mechanical structure has been designed by Prof. Dr.-Ing. Udo Frese and me as reviewer. I am responsible for the electronics (schematics) with Prof. Dr.-Ing. Udo Frese as reviewer. The PCB design based on this schematics has been done by Budelmann-Elektronik. For the mechanical part we used a lot of Plexiglas components and cutted them for our purposes with a lasercutter (thanks to Alexis Maldonado from TAB). The resultant interior is seen on the right picture. Doggy's costum was a Master Thesis of Ray Tzeng from the University of Arts Bremen.

The aim of Doggy is to play ball games. His first public performance was at the OPEN CAMPUS day of the University of Bremen. A Video of the performance can be seen here. Actually Doggy is not able to play balls back to the opponent, but my goal is to make this possible using a Task Level Optimal Controller. To control the system the dynamics parameters have to be guessed (calibrated), which is a challenge due to the first bearing. This bearing oscillates while moving axes two and three. The beahavior can be seen here.



Dennis Schüthe (2017). Dynamic Bat-Control and Human-Robot-Interaction of a redundant Ball Playing Robot. Universität Bremen. Phd-Thesis.   detail     www   pdf


Dennis Schüthe, Felix Wenk, Udo Frese (2016). "Dynamics Calibration of a Redundant Flexible Joint Robot based on Gyroscopes and Encoders". In ICINCO 2016 – 13th International Conference on Informatics in Control, Automation and Robotics. SCITEPRESS.   detail     www   pdf


Dennis Schüthe, Udo Frese (2015). Optimal Control with State and Command Limits for a Simulated Ball Batting Task. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3988–3994, IEEE.   detail     www   pdf
Dennis Schüthe (2015). Dynamic Rebound Control and Human Robot Interaction of a Ball Playing Robot. In Rolf Drechsler, Ulrich Kühne (Eds.), Formal Modeling and Verification of Cyber-Physical Systems, Vol. 1, pp. 299–301, 1st International Summer School on Methods and Tools for the Design of Digital Systems, Bremen, Germ. Springer Vieweg.   detail     www


Dennis Schüthe, Udo Frese (2014). Task Level Optimal Control of a Simulated Ball Batting Robot. In Joaquim Filipe, Oleg Gusikhin, Kurosh Madani, Jurek Sasiadek (Eds.), ICINCO 2014 – 11th International Conference on Informatics in Control, Automation and Robotics, Vol. 2, pp. 45–56. SCITEPRESS.   detail     www   pdf
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