Here’s a quick video showing a humanoid robot in Disney Labs playing catch with its creators and a number of random participants. Here’s how the process works:
“We use an external camera system (ASUS Xtion PRO LIVE) to locate balls and a Kalman ﬁlter to predict ball destination and timing. The robot’s hand and joint-space are calibrated to the vision coordinate system using a least-squares technique, such that the hand can be positioned to the predicted location. Missed catches are detected to trigger suitable animations that indicate failure.”
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