Video demonstrations

Description: Balance an inverted pendulum using the robot. Illustrates an inhouse developed robot controller supporting integration of sensor information below the task level normally supported in industrial controllers.

Download movie: pendelum.mpeg 1.8 mb

Description: Play a game of scrabble against the robot! Uses an eye-in-hand camera for vision (hidden behind the robot hand).

Download movie: scrabble.mpeg 5.2 mb

Description: Estimate surface orientation using a 6-DOF force sensor. Here illustrated in a virtual environment.

Download movie: visionforcedrawing.mpeg 28.6 mb

Description: Catch a ball accelerating down a ramp. Use uncalibrated stereo vision and visual servoing to estimate ball position.

Download movie: grabbingball.mpeg 8.6 mb

40 mb avi

Description: The same experiment as above executed in a virtual environment using a kinematic robot.

Download movie: grabbingball_virtual.avi 41 mb

Description: Drawing of lines between points. Use force to establish contact point against drawing board. Use vision to grab pen and find points. Illustrates sensor fusion between vision and force.

Download movie: visionforcedrawing.mpeg 16.3 mb

Description: Calibration of cameras. Based on method by Z. Zhang, Microsoft Research. Here illustrated in a virtual environment.

Download movie: virualcamcalibration.avi 17.6 mb

Description: Drawing of lines between points. Use force to establish contact point against drawing board. Use vision to grab pen and find points. Illustrates sensor fusion between vision and force.

Download movie: visionforcedrawing.mpeg 16.3 mb

Description: Tracking of CAD object with changing extrinsic and intrinsic camera parameters.

Download movie:
MPEG4 encoder 5 mb
Intel Indeo 3.2 encoder, 23 mb
DivX 5.01 encoder, 4mb
Xvid encoder, 2mb

58 mb avi

Description: The experiment above executed in a virtual environment.

Download movie: tracker.avi, 58 mb

Description: Catch a thrown ball using two cameras and a robot. Estimate ball trajectory using calibrated stereovision and move robot to estimated interception point.

Download movie:
robocatcher - mpg, 15.3 mb
robocatcher - mpg2, 12.8 mb
robocatcher - xvid.avi, 9.1 mb

Description: Demonstrates force control embedded in an ABB S4 controller system.

Download movie: autofett.avi, 70 mb
autofett.mpg 2,8 mb