GambitARobustChess-Playing创新.PDFVIP

Gambit: A Robust Chess-Playing Robotic System Cynthia Matuszek, Brian Mayton, Roberto Aimi, Marc Peter Deisenroth, Liefeng Bo, Robert Chu, Mike Kung, Louis LeGrand, Joshua R. Smith, Dieter Fox Abstract—This paper presents Gambit, a custom, mid-cost 6- DoF robot manipulator system that can play physical board games against human opponents in non-idealized environments. Historically, unconstrained robotic manipulation in board games has often proven to be more challenging than the underlying game reasoning, making it an ideal testbed for small-scale manipulation. The Gambit system includes a low-cost Kinect- style visual sensor, a custom manipulator, and state-of-the-art learning algorithms for automatic detection and recognition of the board and objects on it. As a use-case, we describe playing chess quickly and accurately with arbitrary, uninstrumented boards and pieces, demonstrating that Gambit’s engineering and design represent a new state-of-the-art in fast, robust tabletop manipulation. Index Terms—Mechanism Design of Manipulators; Physical Human Robot Interaction Fig. 1. Gambit autonomously plays chess against a child. I. INTRODUCTION AND RELATED WORK Gambit system represents a leap forward in generality, and Physical board games are a rich problem domain for human- naturally suggests several future steps in the direction of robot cooperation research because such games have an in- decreasing structure and increasing generality. termediate and easily adjustable degree of structure. Playing