RoboRink: High-speed object tracking and control in arcade robotics

Abstract

Robotic systems have increasingly been designed with the purpose of outperforming humans. RoboRink, a fully integrated robotic air hockey environment, challenges human opponents to the popular arcade game on its own turf. This paper describes the design, development, and results of RoboRink over the 2016- 2017 academic year. RoboRink is a capstone Princeton project, combining foundational mechanical and aerospace engineering curriculum and methods. RoboRink was developed as three major sub-assemblies: a fully functioning, low-friction table, an integrated robotic ‘player’, and a predictive vision-control system. Each system was evaluated against specific criteria, including aesthetic appeal, durability, performance, and improvement upon other designs. In addition, RoboRink functioned as a cost-effective prototype to a consumer-facing commercial system. The end product displayed moderate to high aesthetic appeal and durability in all subsystems. The ‘player’ had a high degree of defensive capabilities but limited offensive success. The vision tracking system sported rapid response times and advanced puck detection over all table locations. The artificial intelligence consisted of mirroring and trajectory prediction modes that proved successful in the course of gameplay. RoboRink succeeds as a capstone engineering project with unique emphasis on ground-up design and fabrication. It resulted in a low-cost, aesthetically sophisticated, and competitive end product.