For more information, please see molkky.weebly.com

Mölkky

Baxter Robot plays Molkky, a Finnish lawn game. Berkeley EECS 106A Project Fall 2019 We are modifying the game to scaled down foam pieces and play indoors on a table top.

Molkky Example

Molkky Rules Overview

Sawyer plays Molkky

Project Overview

Vision

• Find pins, read pin score values

Strategy

• Calculate optimal expected move based on move choices and likelihood of achieving moves

Projectile Trajectory Planning

• Calculate pin trajectory using projectile motion. Use this to extract toss velocity and angle

Forward Kinematics & Motion Planning

• Baxter moves to location and launches pin

Physical Modifications

• Custom Gripper for Baxter to hold and launch toss pin

Other Manufacturing

• Manufactured game board and pieces to optimize vision algorithms

Getting Started

• see src/README.md