Design of a humanoid ping-pong player robot with redundant joints

Zhangguo Yu; Yan Liu; Qiang Huang; Xuechao Chen; Wen Zhang; Jing Li; Gan Ma; Libo Meng; Tongtong Li; Weimin Zhang

doi:10.1109/ROBIO.2013.6739578

Design of a humanoid ping-pong player robot with redundant joints

Zhangguo Yu, Yan Liu, Qiang Huang, Xuechao Chen, Wen Zhang, Jing Li, Gan Ma, Libo Meng, Tongtong Li, Weimin Zhang

Research output: Contribution to conference › Paper › peer-review

17 Citations (Scopus)

Abstract

This study investigates the design of a humanoid ping-pong robot system with a 7-DOFs redundant arm. The design of the arm mechanism, real-time binocular vision system, and a distributed control structure was presented. The methods for ball trajectory prediction and motion planning for the ping-pong racket were proposed. A Jacobian pseudoinverse method considering joint limits and manipulability optimization terms is employed to solve inverse kinematics in order to decrease the counterforce exerting on the humanoid robot. The proposed system is validated by a series of rally experiments between the robot and a human.

Original language	English
Pages	911-916
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2013.6739578
Publication status	Published - 2013
Event	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, China Duration: 12 Dec 2013 → 14 Dec 2013

Conference

Conference	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Country/Territory	China
City	Shenzhen
Period	12/12/13 → 14/12/13

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10.1109/ROBIO.2013.6739578

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abstract = "This study investigates the design of a humanoid ping-pong robot system with a 7-DOFs redundant arm. The design of the arm mechanism, real-time binocular vision system, and a distributed control structure was presented. The methods for ball trajectory prediction and motion planning for the ping-pong racket were proposed. A Jacobian pseudoinverse method considering joint limits and manipulability optimization terms is employed to solve inverse kinematics in order to decrease the counterforce exerting on the humanoid robot. The proposed system is validated by a series of rally experiments between the robot and a human.",

author = "Zhangguo Yu and Yan Liu and Qiang Huang and Xuechao Chen and Wen Zhang and Jing Li and Gan Ma and Libo Meng and Tongtong Li and Weimin Zhang",

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AU - Yu, Zhangguo

AU - Liu, Yan

AU - Huang, Qiang

AU - Chen, Xuechao

AU - Zhang, Wen

AU - Li, Jing

AU - Ma, Gan

AU - Meng, Libo

AU - Li, Tongtong

AU - Zhang, Weimin

PY - 2013

Y1 - 2013

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AB - This study investigates the design of a humanoid ping-pong robot system with a 7-DOFs redundant arm. The design of the arm mechanism, real-time binocular vision system, and a distributed control structure was presented. The methods for ball trajectory prediction and motion planning for the ping-pong racket were proposed. A Jacobian pseudoinverse method considering joint limits and manipulability optimization terms is employed to solve inverse kinematics in order to decrease the counterforce exerting on the humanoid robot. The proposed system is validated by a series of rally experiments between the robot and a human.

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DO - 10.1109/ROBIO.2013.6739578

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T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013

Y2 - 12 December 2013 through 14 December 2013

ER -

Design of a humanoid ping-pong player robot with redundant joints

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