{"id":"https://openalex.org/W4383109138","doi":"https://doi.org/10.1109/icra48891.2023.10160336","title":"AIMY: An Open-source Table Tennis Ball Launcher for Versatile and High-fidelity Trajectory Generation","display_name":"AIMY: An Open-source Table Tennis Ball Launcher for Versatile and High-fidelity Trajectory Generation","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109138","doi":"https://doi.org/10.1109/icra48891.2023.10160336"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160336","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5004083291","display_name":"Alexander Dittrich","orcid":"https://orcid.org/0000-0003-2521-987X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexander Dittrich","raw_affiliation_strings":["MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076","institution_ids":[]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jan Schneider","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jan Schneider","raw_affiliation_strings":["MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048792224","display_name":"Simon Guist","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Simon Guist","raw_affiliation_strings":["MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024100321","display_name":"Nico G\u00fcrtler","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nico G\u00fcrtler","raw_affiliation_strings":["MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085465516","display_name":"Heiko Ott","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Heiko Ott","raw_affiliation_strings":["MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040735074","display_name":"Thomas Steinbrenner","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Thomas Steinbrenner","raw_affiliation_strings":["MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044005697","display_name":"Bernhard Sch\u00f6lkopf","orcid":"https://orcid.org/0000-0002-8177-0925"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bernhard Sch\u00f6lkopf","raw_affiliation_strings":["MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5055226918","display_name":"Dieter B\u00fcchler","orcid":"https://orcid.org/0000-0002-2493-0101"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dieter B\u00fcchler","raw_affiliation_strings":["MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"MPI for Intelligent Systems,T&#x00FC;bingen,Germany,72076","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":8,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8605,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.73237041,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"3058","last_page":"3064"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12677","display_name":"Sports Dynamics and Biomechanics","score":0.9842000007629395,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9710999727249146,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/tennis-ball","display_name":"Tennis ball","score":0.7657902836799622},{"id":"https://openalex.org/keywords/ball","display_name":"Ball (mathematics)","score":0.7551651000976562},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5725370049476624},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5670775771141052},{"id":"https://openalex.org/keywords/table","display_name":"Table (database)","score":0.5608873963356018},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.41357868909835815},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3409273624420166},{"id":"https://openalex.org/keywords/sports-equipment","display_name":"sports equipment","score":0.2376156747341156},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.17426514625549316},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.09869000315666199},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.09587129950523376}],"concepts":[{"id":"https://openalex.org/C2992174615","wikidata":"https://www.wikidata.org/wiki/Q246514","display_name":"Tennis ball","level":3,"score":0.7657902836799622},{"id":"https://openalex.org/C122041747","wikidata":"https://www.wikidata.org/wiki/Q838611","display_name":"Ball (mathematics)","level":2,"score":0.7551651000976562},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5725370049476624},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5670775771141052},{"id":"https://openalex.org/C45235069","wikidata":"https://www.wikidata.org/wiki/Q278425","display_name":"Table (database)","level":2,"score":0.5608873963356018},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.41357868909835815},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3409273624420166},{"id":"https://openalex.org/C2780101202","wikidata":"https://www.wikidata.org/wiki/Q768186","display_name":"sports equipment","level":2,"score":0.2376156747341156},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.17426514625549316},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.09869000315666199},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.09587129950523376},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10160336","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160336","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1998618268","https://openalex.org/W2012204020","https://openalex.org/W2142300342","https://openalex.org/W2181634937","https://openalex.org/W2571450712","https://openalex.org/W2797121477","https://openalex.org/W2977389550","https://openalex.org/W2981546531","https://openalex.org/W2985439385","https://openalex.org/W3007035358","https://openalex.org/W3009632987","https://openalex.org/W3037785630","https://openalex.org/W3047943996","https://openalex.org/W3176329889","https://openalex.org/W3207061160","https://openalex.org/W4283785991","https://openalex.org/W4285597472","https://openalex.org/W4287691399","https://openalex.org/W6686039735","https://openalex.org/W6840199509"],"related_works":["https://openalex.org/W2500432627","https://openalex.org/W2337502480","https://openalex.org/W2302011901","https://openalex.org/W2085868700","https://openalex.org/W2973156926","https://openalex.org/W2383982173","https://openalex.org/W2317418221","https://openalex.org/W584172674","https://openalex.org/W1988727730","https://openalex.org/W2375317300"],"abstract_inverted_index":{"To":[0],"approach":[1],"the":[2,55,124,130,140,150,181,184],"level":[3],"of":[4,54,79,123,175,183],"advanced":[5,97],"human":[6,98],"players":[7],"in":[8,17,29,45],"table":[9,31,68,142,177,198],"tennis":[10,32,69,143,178,199],"with":[11],"robots,":[12],"generating":[13],"varied":[14],"ball":[15,26,70,75,151,163,169,185],"trajectories":[16],"a":[18,63,120,162],"reproducible":[19],"and":[20,52,66,77,86,105,128,135,138,158],"controlled":[21,110],"manner":[22],"is":[23],"essential.":[24],"Current":[25],"launchers":[27],"used":[28],"robot":[30,141,176],"either":[33],"do":[34],"not":[35],"provide":[36,119],"an":[37,112],"interface":[38],"for":[39,154,197],"automatic":[40],"control":[41],"or":[42,115],"are":[43,94],"limited":[44],"their":[46],"capabilities":[47],"to":[48,81,96,132,160,164],"adapt":[49],"speed,":[50],"direction,":[51],"spin":[53],"ball.":[56],"For":[57],"these":[58],"reasons,":[59],"we":[60,171],"present":[61],"AIMY,":[62],"three-wheeled":[64],"open-hardware":[65],"open-source":[67,129],"launcher,":[71,170],"which":[72,93],"can":[73,107,187],"generate":[74],"speeds":[76],"spins":[78],"up":[80],"15.4ms":[82],"<sup":[83,88],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[84,89],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">\u22121</sup>":[85,90],"192.0s":[87],",":[91],"respectively,":[92],"comparable":[95],"players.":[99],"The":[100],"wheel":[101],"speeds,":[102],"launch":[103,161],"orientation":[104],"time":[106],"be":[108,188],"fully":[109],"via":[111],"open":[113],"Ethernet":[114],"Wi-Fi":[116],"interface.":[117],"We":[118,146],"detailed":[121],"overview":[122],"core":[125],"design":[126],"features,":[127],"software":[131],"encourage":[133],"distribution":[134],"duplication":[136],"within":[137],"beyond":[139],"research":[144],"community.":[145],"also":[147],"extensively":[148],"evaluate":[149],"launcher's":[152],"accuracy":[153],"different":[155],"system":[156],"settings":[157],"learn":[159],"desired":[165],"locations.":[166],"With":[167],"this":[168],"enable":[172],"long-duration":[173],"training":[174],"approaches":[179],"where":[180],"complexity":[182],"trajectory":[186],"automatically":[189],"adjusted,":[190],"enabling":[191],"large-scale":[192],"real-world":[193],"online":[194],"reinforcement":[195],"learning":[196],"robots.":[200]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}