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

科研成果: 会议稿件 › 论文 › 同行评审

17 引用（Scopus）

摘要

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.

源语言	英语
页	911-916
页数	6
DOI	https://doi.org/10.1109/ROBIO.2013.6739578
出版状态	已出版 - 2013
活动	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 - Shenzhen, 中国期限: 12 12月 2013 → 14 12月 2013

会议

会议	2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
国家/地区	中国
市	Shenzhen
时期	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",

year = "2013",

doi = "10.1109/ROBIO.2013.6739578",

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T1 - Design of a humanoid ping-pong player robot with redundant joints

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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