Title :
A ball-throwing robot with visual feedback
Author :
Hu, Jwu-Sheng ; Chien, Ming-Chih ; Chang, Yung-Jung ; Su, Shyh-Haur ; Kai, Chen-Yu
Author_Institution :
Dept. of Electr. & Control Eng., Nat. Chiao-Tung Univ., Hsinchu, Taiwan
Abstract :
This work presents a robot system for throwing a ball into a basket. A stereo vision system is used to measure the position of the target in 3D space. The ball-throwing transformation between the input command of the robot system and the target position is built by cubic polynomial. Through ball-throwing transformation with visual feedback for target position, the robot throws the ball toward the target which can randomly move to everywhere in visible field. The percentage of successful ball-throwing for target within three meters was found to be approximately 99%.
Keywords :
polynomials; robot vision; state feedback; stereo image processing; 3D space target; ball throwing robot; ball throwing transformation; cubic polynomial; robot system; stereo vision system; target position; visible field; visual feedback;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on
Conference_Location :
Taipei
Print_ISBN :
978-1-4244-6674-0
DOI :
10.1109/IROS.2010.5649335
