A new motion control method for golf swing robot hitting a ball

Author

Ming, A. ; Henmi, M. ; Xu, C. ; Shimojo, M.

Author_Institution

Dept. of Mechanical Eng. & Intelligent Syst., Electro-Communications Univ., Tokyo

fYear

2005

fDate

24-28 July 2005

Firstpage

1517

Lastpage

1522

Abstract

A new golf swing robot to simulate human motion has been developed. This paper deals with motion control of the robot for hitting a ball. For the case, it becomes important to control the motion of the robot after the impact, to avoid breaking a club. In this paper, a method for controlling the robot adaptable to various impact conditions is proposed. The motion state of the robot is estimated first by an extended Kalman filter, and a new reference trajectory is generated on-line according to the estimated state. The method has been implemented to the robot successfully

Keywords

Kalman filters; adaptive systems; biomechanics; intelligent robots; manipulators; motion control; physiological models; sport; state estimation; ball hitting; extended Kalman filter; golf swing robot; human motion simulation; impact conditions adaptability; motion control method; robot motion state estimation; Humanoid robots; Humans; Intelligent robots; Intelligent structures; Manipulator dynamics; Motion control; Motion estimation; Prototypes; Shoulder; State estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics. Proceedings, 2005 IEEE/ASME International Conference on

Conference_Location

Monterey, CA

Print_ISBN

0-7803-9047-4

Type

conf

DOI

10.1109/AIM.2005.1511226

Filename

1511226