System design of an Anthropomorphic arm robot for dynamic interaction task

Zhangguo Yu; Qiang Huang; Xuechao Chen; Wei Xu; Jing Li; Gan Ma; Xiaopeng Chen; Weimin Zhang; Huaping Wang; Si Zhang; Ningjun Fan

doi:10.1109/CCDC.2011.5968964

System design of an Anthropomorphic arm robot for dynamic interaction task

Zhangguo Yu^*, Qiang Huang, Xuechao Chen, Wei Xu, Jing Li, Gan Ma, Xiaopeng Chen, Weimin Zhang, Huaping Wang, Si Zhang, Ningjun Fan

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

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.

Original language	English
Title of host publication	Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011
Pages	4204-4209
Number of pages	6
DOIs	https://doi.org/10.1109/CCDC.2011.5968964
Publication status	Published - 2011
Event	2011 Chinese Control and Decision Conference, CCDC 2011 - Mianyang, China Duration: 23 May 2011 → 25 May 2011

Publication series

Name	Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011

Conference

Conference	2011 Chinese Control and Decision Conference, CCDC 2011
Country/Territory	China
City	Mianyang
Period	23/05/11 → 25/05/11

Keywords

Ping-pong robot
dynamic interaction
motion planning
trajectory prediction

Access to Document

10.1109/CCDC.2011.5968964

Cite this

Yu, Z., Huang, Q., Chen, X., Xu, W., Li, J., Ma, G., Chen, X., Zhang, W., Wang, H., Zhang, S., & Fan, N. (2011). System design of an Anthropomorphic arm robot for dynamic interaction task. In Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011 (pp. 4204-4209). Article 5968964 (Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011). https://doi.org/10.1109/CCDC.2011.5968964

@inproceedings{10438e9bd1414333a480cd7c34bf490c,

title = "System design of an Anthropomorphic arm robot for dynamic interaction task",

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 = "Ping-pong robot, dynamic interaction, motion planning, trajectory prediction",

author = "Zhangguo Yu and Qiang Huang and Xuechao Chen and Wei Xu and Jing Li and Gan Ma and Xiaopeng Chen and Weimin Zhang and Huaping Wang and Si Zhang and Ningjun Fan",

year = "2011",

doi = "10.1109/CCDC.2011.5968964",

language = "English",

isbn = "9781424487363",

series = "Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011",

pages = "4204--4209",

booktitle = "Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011",

note = "2011 Chinese Control and Decision Conference, CCDC 2011 ; Conference date: 23-05-2011 Through 25-05-2011",

}

Yu, Z , Huang, Q , Chen, X, Xu, W, Li, J, Ma, G, Chen, X , Zhang, W , Wang, H, Zhang, S & Fan, N 2011, System design of an Anthropomorphic arm robot for dynamic interaction task. in Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011., 5968964, Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011, pp. 4204-4209, 2011 Chinese Control and Decision Conference, CCDC 2011, Mianyang, China, 23/05/11. https://doi.org/10.1109/CCDC.2011.5968964

System design of an Anthropomorphic arm robot for dynamic interaction task. / Yu, Zhangguo ; Huang, Qiang ; Chen, Xuechao et al.
Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011. 2011. p. 4204-4209 5968964 (Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - System design of an Anthropomorphic arm robot for dynamic interaction task

AU - Yu, Zhangguo

AU - Huang, Qiang

AU - Chen, Xuechao

AU - Xu, Wei

AU - Li, Jing

AU - Ma, Gan

AU - Chen, Xiaopeng

AU - Zhang, Weimin

AU - Wang, Huaping

AU - Zhang, Si

AU - Fan, Ningjun

PY - 2011

Y1 - 2011

N2 - 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.

AB - 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.

KW - Ping-pong robot

KW - dynamic interaction

KW - motion planning

KW - trajectory prediction

UR - http://www.scopus.com/inward/record.url?scp=80052247665&partnerID=8YFLogxK

U2 - 10.1109/CCDC.2011.5968964

DO - 10.1109/CCDC.2011.5968964

M3 - Conference contribution

AN - SCOPUS:80052247665

SN - 9781424487363

T3 - Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011

SP - 4204

EP - 4209

BT - Proceedings of the 2011 Chinese Control and Decision Conference, CCDC 2011

T2 - 2011 Chinese Control and Decision Conference, CCDC 2011

Y2 - 23 May 2011 through 25 May 2011

ER -

System design of an Anthropomorphic arm robot for dynamic interaction task

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this