Ball Juggling with Cassie Cal

Cassie Cal juggling a ball: We present a controller for ball juggling on a Cassie bipedal robot. To achieve this, we consider the dual task of balancing the robot while simultaneously executing the precise task of ball juggling.

As robots become increasingly integrated with everyday life, their multitasking ability becomes more and more important. Here we consider one challenging dual task of balancing and juggling.

In our experiments, we demonstrate multiple juggles of a racquetball on various paddles mounted on the head of Cassie. These paddles include a tennis racket, planks of wood and 3D-printed blocks of plastic. The controller tries to maintain a desired apex position of the ball (height and x-y position). A motion capture system is used in experiments to track the ball postion.

We thank Chenxi (Toby) Tian for creating the first version of the paddle for juggling.

This work was funded in part by the National Science Foundation through NSF Grant IIS-1834557 and in part NSF Graduate Fellowship DGE-1252522.

Music: "Intro" by Krosia (https://krosia.bandcamp.com/album/azur-collection-2).

Видео Ball Juggling with Cassie Cal канала Hybrid Robotics