This student project was realized at Stanford University within the course CS255A, “Experimental Robotics”. A KUKA Light-Weight Robot is controlled through the Fast Research Interface and equipped with a “sword”. The same kind of sword is used by a human being, and the purpose of the project is to show how a robot and a human can do sword fighting. Based on a Microsoft Kinect device, image processing algorithms capture human motions and compute data that is used by the Reflexxes Motion Libraries to on-line generate a robot motion trajectory, such that the robot system can react instantaneously to any unforeseen motion of the human.
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