Tag: #역기구학
Kubernetes, DevOps and MLOps, written from things we ran and measured ourselves · 4 posts
Playing Table Tennis with a Humanoid Robot Upper Body: A Baseline Placing the Unitree G1 in a Simulator with Human Speed Limits
Instead of the gantry robots used so far, we placed the upper body of the humanoid robot Unitree G1 (7-DOF arms, 3-DOF waist) on a left-right sliding axis and had it receive the same 500 evaluation balls. Even with human
2026-10-18 · 12 min read #탁구 로봇#휴머노이드#Unitree G1#MuJoCo#시뮬레이션 영상Inverse Kinematics: Two Solutions, Wrist Separation, Newton's Method and Damped Least Squares, Singularities, No Solutions
Inverse kinematics is the process of determining the joint angles required to place a racket at a desired position and orientation. For a 2-link arm, the law of cosines yields two solutions (elbow-up and elbow-down), and
2026-10-18 · 15 min read #탁구 로봇#역기구학#야코비안#감쇠 최소제곱#특이점Until Hitting the Ball: Seven Steps from Perception to Motor Current and the Time Budget
For a table tennis robot to hit a ball, it must complete seven steps—perception, ball state estimation, flight prediction, shot selection, inverse kinematics, joint trajectory, and low-level control—while the ball is fly
2026-10-18 · 15 min read #탁구 로봇#로봇 팔#시간 예산#오픈하드웨어#역기구학Until a Table Tennis Robot Returns a Ball: Calculations Seen Through a Step-by-Step Simulation Video
Recorded using MuJoCo, the process from when the table tennis robot arm receives an opponent's shot and places it at the target position on the opponent's court is illustrated across seven stages: observation, prediction
2026-10-18 · 31 min read #탁구 로봇#MuJoCo#시뮬레이션 영상#역기구학#궤적 생성