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Robot for the Billiards Game


The Robot for the Billiards Game

Tech Area / Field

  • MAN-ROB/Robotics/Manufacturing Technology

3 Approved without Funding

Registration date

Leading Institute
Moscow State University / NIIM (Mechanics), Russia, Moscow

Supporting institutes

  • Keldysh Institute of Applied Mathematics, Russia, Moscow


  • Gifu Prefectural Science and Technology Promotion Center, Japan, Gifu Prefecture, Kakamigahara City

Project summary

The purpose of the project consists in creation of intellectual robots - assistants in different fields of human activity. Now in a world the increasing attention is given to development of mechatronic systems which are capable to act in conditions, similar to the environment of habitability of the human being, and to correct the behavior if necessary. As the examples of such developments one can mention robots for the service of patients in clinical conditions, robots for the game in football, table tennis, mobile robots for struggle with the terrorists, robots for saving of damaged in extreme situations and so on. As the significant steps in this direction one should mention the creation of the biped robot of the «Honda» corporation and the project of the “Sony” corporation on creation of biped robots capable to play football.

Mechatronic systems which are capable of intellectual interaction with the man represent significant interest as well. The computer systems for the game in a chess, grains and other logical board games have such property but here the role of mechanical motion is negligible.

The development of robots which are capable to be the valuable partners to the man in dynamic games, now only starts. Participants of the project have long-term experience in the field of development of robotic systems. In particular, the team of the Keldysh Institute of Russian Academy of Science has developed the system "Eye - Hand" intended for investigation in the field of interaction of the manipulator with moving objects. A rod on a bifilar suspension and balls suspended on long enough wires served as examples of such objects. The vision system evaluated the sequence of object positions, and the manipulator caught an arbitrary moving rod or struck on balls, causing their required collision or hitting the fixed target after their collision. Researchers from Institute of a mechanics of the Moscow State university and Keldysh institute were ones of first in a world, who developed and constructed full-adaptive six-legged walking machines and dynamically walking bipeds. The robots with force control of end-effectors were developed. Recently participants of the project reach significant advance in the field of creation of wheeled mobile robots executing at motion the difficult logical tasks of orientation on beacons.

The offered project is directed on development of abilities of the robot to interact with objects moving naturally. As the result of the project the robot-assistant for the game in billiards with the man should be created. The robot can be applied also as the trainer who is capable to render to the player the intellectual help in mastering of methods of the game of the given scale. The public places for entertainment or personal dwelling can be equipped with such a robot.

The robot should be mobile. It should have the ability to move to a given position with respect to the billiards table, for fulfillment of impact on a chosen cue-ball. It is necessary to equip the robot with the accurate enough shot device which is simulating the impact of a cue on a ball. The intelligent vision system evaluating a position of balls on the table and permitting to select an suitable cue-ball and a type of shot on it should be developed. The intellectual part of the robot should resolve the tasks of the combinatorial analysis of arrangement of balls with the purpose of selection of sequence of impacts of balls both with each other, and with banks of billiards table to sink a ball or for fulfillment of any other game task. With this purpose it will be necessary to update the theory of motion of the billiard ball and its impacts with other balls and to create the knowledge base for accumulation of the a priori empirical information about expedient game situations. It will be necessary to develop fast algorithms of recognition of game situations arising during the game due to the corresponding ball arrangement.

The listed tasks are new and actual in the field of robotics and their solution has the big scientific value as a phase in creation of more complex intellectual systems. The authors assume also, that as the output of the project an operational prototype of a robotic system with a perfect mechanical part and remarkable intellectual capabilities will be created. Such prototype can be used as the approach to the commercial product, which can be applied with success in the industry of entertainment.

The scientists and experts, having paid significant contribution to development of space-rocket engineering and modern navigational control systems of mobile objects, will be involved into the project.Theoretical as well as experimental investigations have to be fulfilled for the project accomplishment. Theoretical investigations include the development of methods for analysis nonholonomic systems of mechanics and updating the theory of collisions; development of methods for fast analysis of dynamical scenes. Experimental developments are connected with creation of mechanical system for precise shot to the ball; gathering developed systems into the whole robotics complex. Human-robot interaction system will be developed under the foreign collaborator cooperation as well as the system for billiard game teaching which includes suggestion about win combinations of balls and methods for right realization of shots, the data base of knowledge about game regulations and about experimentally known game situations from the experience of high level human players. The possibility of demonstration by robot of practical ways to play will be very important.

Methods for problems solutions will be based on the theory of nonholonomic mechanical systems motion with friction, the theory of dynamical billiards, the computer simulation, the theory of scene recognition and making decisions. Technical approaches will be based on the project participants experience connected with creation of acting prototypes of mobile and walking robots, interactive robotic systems, technical vision systems and control systems. The experience of high level billiard players will be used. Theoretical investigations will be performed under the close reciprocity with experimental developments so it will allow to accelerate the accomplishment of the project. Participants have the rich experience of the similar reciprocity.


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