相关论文: SpinDOE: A ball spin estimation method for table t…
In table tennis, the rotation (spin) of the ball plays a crucial role. A table tennis match will feature a variety of strokes. Each generates different amounts and types of spin. To develop a robot that can compete with a human player, the…
Spin plays a pivotal role in ball-based sports. Estimating spin becomes a key skill due to its impact on the ball's trajectory and bouncing behavior. Spin cannot be observed directly, making it inherently challenging to estimate. In table…
In recent years, robotic table tennis has become a popular research challenge for perception and robot control. Here, we present an improved table tennis robot system with high accuracy vision detection and fast robot reaction. Based on…
We present a robotic table tennis platform that achieves a variety of hit styles and ball-spins with high precision, power, and consistency. This is enabled by a custom lightweight, high-torque, low rotor inertia, five degree-of-freedom arm…
Analyzing a player's technique in table tennis requires knowledge of the ball's 3D trajectory and spin. While, the spin is not directly observable in standard broadcasting videos, we show that it can be inferred from the ball's trajectory…
Robot table tennis systems require a vision system that can track the ball position with low latency and high sampling rate. Altering the ball to simplify the tracking using for instance infrared coating changes the physics of the ball…
Sports analysis requires processing large amounts of data, which is time-consuming and costly. Advancements in neural networks have significantly alleviated this burden, enabling highly accurate ball tracking in sports broadcasts. However,…
The game of table tennis is renowned for its extremely high spin rate, but most table tennis robots today struggle to handle balls with such rapid spin. To address this issue, we have contributed a series of methods, including: 1.…
Robots in dynamic environments need fast, accurate models of how objects move in their environments to support agile planning. In sports such as ping pong, analytical models often struggle to accurately predict ball trajectories with spins…
Developing table tennis robots that mirror human speed, accuracy, and ability to predict and respond to the full range of ball spins remains a significant challenge for legged robots. To demonstrate these capabilities we present a system to…
We introduce a novel method for collecting table tennis video data and perform stroke detection and classification. A diverse dataset containing video data of 11 basic strokes obtained from 14 professional table tennis players, summing up…
In this work, the novel task of detecting and classifying table tennis strokes solely using the ball trajectory has been explored. A single camera setup positioned in the umpire's view has been employed to procure a dataset consisting of…
Sound can complement vision in ball sports by providing subtle cues about contact dynamics. In table tennis, the brief, high-frequency sounds produced during racket-ball impacts carry information about the racket type, the surface…
Table tennis robots gained traction over the last years and have become a popular research challenge for control and perception algorithms. Fast and accurate ball detection is crucial for enabling a robotic arm to rally the ball back…
Motion blur reduces the clarity of fast-moving objects, posing challenges for detection systems, especially in racket sports, where balls often appear as streaks rather than distinct points. Existing labeling conventions mark the ball at…
We present an implementation of an online optimization algorithm for hitting a predefined target when returning ping-pong balls with a table tennis robot. The online algorithm optimizes over so-called interception policies, which define the…
The rapid and precise localization and prediction of a ball are critical for developing agile robots in ball sports, particularly in sports like tennis characterized by high-speed ball movements and powerful spins. The Magnus effect induced…
Learning to control high-speed objects in dynamic environments represents a fundamental challenge in robotics. Table tennis serves as an ideal testbed for advancing robotic capabilities in dynamic environments. This task presents two…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
We introduce a new high resolution, high frame rate stereo video dataset, which we call SPIN, for tracking and action recognition in the game of ping pong. The corpus consists of ping pong play with three main annotation streams that can be…