Air hockey robot (v1)

Low-cost air hockey robot for human-robot-interaction research

M. Shinjo, C. C. Beltran-Hernandez, M. Hamaya, and K. Tanaka, Low-Cost Air Hockey Robot Using a Five-Bar Linkage Mechanism Driven by Position-Control Servomotors, The 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), 2024.

Project page

Paper

Getting started

Install and setup ros2.

Build

colcon build

Setup

Before running codes, setup as

. install/setup.bash

Run

Open multiple terminals. Run following commands in each terminal. These node can be used simultaneously making and using ros2 launch files.

ros2 run air_hockey_robot camera_driver 

ros2 run air_hockey_robot object_detector 

ros2 run air_hockey_robot velocity_estimator 

ros2 run air_hockey_robot object_predictor 

python3 src/air_hockey_robot_py/air_hockey_robot_py/motor_communication.py 

python3 src/air_hockey_robot_py/air_hockey_robot_py/arm_motion_planner.py 

TIPS

Motion generation type (hit back motion, block motion, random motion, ...)

Change self.mode in arm_motion_planner.py.

Camera calibration

Get and edit CAMERA_MATRIX and DISTORTION_COEFFICIENTS in air_hockey_robot_config.hpp.

Camera and robot coordinate convertion

Get and edit PUCK_KX_F, PUCK_KY_F, ..., PUCK_K_W, HUMAN_KX_F, HUMAN_KY_F, ..., HUMAN_K_W in air_hockey_robot_config.hpp.

Parameters can be loaded making and using ros2 param files.

Motor communication debug

Send commands as

$ ros2 topic pub --once /motor_commands air_hockey_robot/msg/MotorCommands "{goal_position_id1: 2600, goal_position_id2: 2600, goal_speed_id1: 0, goal_speed_id2: 0, header:{stamp: {sec: 0, nanosec: 0}, frame_id: 0}}"

Hardware

.stp design files in cad.

Citation

@inproceedings{shinjo2024low,
    title={Low-Cost Air Hockey Robot Using a Five-Bar Linkage Mechanism Driven by Position-Control Servomotors},
    author={Shinjo, Mirai and Beltran-Hernandez, Cristian C and Hamaya, Masashi and Tanaka, Kazutoshi},
    booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    organization={IEEE}, 
    year={2024}
}