XYLOPHONE
PLAYING
in simulation
& reality
vision
it will be musical
This project focuses on making Roboy playing the xylophone in simulation and reality.
our goal
this semester we want roboy to …
Let Roboy play the xylophone in simulation
abstract
how we did it
CONNECTIONS
- Extended DartTracker
- Tracks 3D model using Depth image
- Requires initial defined object position
SIMULATION
- Get Published TFs from Keys
- Calculate inverse kinematics
- Move to and try to hit a key
- Wait for hit detection
HIT DETECTION IN SIMULATION
- Key joints experience acceleration when hit
- Acceleration greater than a threshold → key has been hit
RESULTS
roboy can now…
PLAY THE XYLOPHONE IN SIMULATION
The hit detection works in simulation
the team
get to know the xylophone playing team
TEAM MEMBERS SS2018
Simon Trendel (Team Lead)
Heather Tooill (Agile Coach)
Joana Pecholt
Niclas Wesemann
Muhammad Ansab Shohab
Stefan Walke
WHERE TO GO NEXT
short-term & long-term
WANT TO JOIN A TEAM?
get in touch with us
