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Highly dynamic robotic tasks require high-speed and reactive robots. Thesetasks are particularly challenging due to the physical constraints, hardwarelimitations, and the high uncertainty of dynamics and sensor measures. To facethese issues, it's crucial to design robotics agents that generate precise andfast trajectories and react immediately to environmental changes. Air hockey isan example of this kind of task. Due to the environment's characteristics, itis possible to formalize the problem and derive clean mathematical solutions.For these reasons, this environment is perfect for pushing to the limit theperformance of currently available general-purpose robotic manipulators. Usingtwo Kuka Iiwa 14, we show how to design a policy for general-purpose roboticmanipulators for the air hockey game. We demonstrate that a real robot arm canperform fast-hitting movements and that the two robots can play against eachother on a medium-size air hockey table in simulation.

Efficient and Reactive Planning for High Speed Robot Air Hockey