Title :
High-speed batting using a multi-jointed manipulator
Author :
Senoo, Taku ; Namiki, Akio ; Ishikawa, Masatoshi
Author_Institution :
Dept. of Inf. Phys. & Comput., Tokyo Univ., Japan
Abstract :
In this paper a robotic batting algorithm using a high-speed arm and high-speed stereo vision is proposed. With this strategy, the desired trajectory of the manipulator is generated so that both high-speed swing motion and tracking motion combine to meet the ball squarely with the bat. As a result the manipulator can follow the ball while swinging the bat at high speed even if it is difficult to predict the trajectory of a ball. Experimental results are shown in which a high-speed manipulator hits a ball thrown by a human.
Keywords :
feedback; manipulators; position control; sport; stereo image processing; tracking; high speed arm; high speed batting; high speed manipulator; high speed stereo vision; high speed swing motion; multi jointed manipulator; robotic batting algorithm; tracking motion; trajectory generation; visual feedback; Computer architecture; Computer vision; Digital signal processing; Humans; Manipulator dynamics; Motion control; Physics computing; Robot sensing systems; Robot vision systems; Trajectory;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1307986
