This is a private project. You must be a member to view its contents.

1) Provides a complete design for creating and sensing an environment and controlling a robot to play ping pong.

2) Provides a starting point for developing human-interactive robot tasks

This project is a combination of physical fixtures, environment design, and source code for controlling a puma robot to play ping pong. Using a combination of nonlinear control, force feedback, stereo camera vision, and a controlled environment this project aims to produce a robot that can hit a ping pong ball to itself by bouncing off a wall, and continuously return balls to a real human opponent.