A Ball Catching 7 DOF Robot Arm
Implementation: Hardware
Koko: The 7DOF custom robot arm from Pieter Abbeel's lab
Mounting Frame: A frame made from 80/20 linkages clamped down to a table in the lab room and 3D printed Kinect mount
Kinect: Motion sensing device with multiple vision channels (RGB/IR)
Vive Trackers: VR tracking devices from Vive used to accurately locate the position of Koko's links
Velcro Pad: Taken from a ball-catching game, allows for catching ball without gripping and 3D printed end effector mount
Implementation: Software