Realization of Continuous Siteswap Behavior in Juggling with Upper Body Humanoid Robot and RGB-D Camera

Abstract

We focused on juggling as one of entertainer robots. Juggling has numetical notations called siteswap. There are a great many juggling behaviors defined by siteswap, all of which are continuous. The goal of this study is to reproduce the continuous juggling behavior defined by siteswap. In this study, a jugling robot system based on an upper body humanoid robot and an RGB-D camera is developed. The humanoid robot performed the motions of throwing and grabbing the ball. the RGB-D camera captured the trajectory of the ball. Some experiments indicates that the down throw of the ball by the humanoid robot can obgtain enough stable ball trajectories for juggling.