Title :
System design of an Anthropomorphic arm robot for dynamic interaction task
Author :
Yu, Zhangguo ; Huang, Qiang ; Chen, Xuechao ; Xu, Wei ; Li, Jing ; Ma, Gan ; Chen, Xiaopeng ; Zhang, Weimin ; Wang, Huaping ; Zhang, Si ; Fan, Ningjun
Author_Institution :
Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China
Abstract :
This paper investigates the system design of a 7-DOFs Anthropomorphic arm robot for fast dynamic interaction task, taking the ping-pong rally task against human as an example. The robot system includes the arm mechanism, real-time stereo vision sub-system, ball trajectory prediction, racket motion trajectory planning, and distributed joint controllers. The algorithms for ball identification, ball trajectory prediction, and hitting planning are presented. The validity of the system is demonstrated via rally experiments.
Keywords :
manipulator dynamics; path planning; real-time systems; stereo image processing; 7-DOF anthropomorphic arm robot; arm mechanism; ball identification; ball trajectory prediction; distributed joint controllers; dynamic interaction task; hitting planning; ping-pong rally task; racket motion trajectory planning; real-time stereo vision subsystem; robot system; system design; Humans; Joints; Machine vision; Planning; Real time systems; Robots; Trajectory; Ping-pong robot; dynamic interaction; motion planning; trajectory prediction;
Conference_Titel :
Control and Decision Conference (CCDC), 2011 Chinese
Conference_Location :
Mianyang
Print_ISBN :
978-1-4244-8737-0
DOI :
10.1109/CCDC.2011.5968964
