Yu, Z., Liu, Y., Huang, Q., Chen, X., Zhang, W., Li, J., Ma, G., Meng, L., Li, T., & Zhang, W. (2013). Design of a humanoid ping-pong player robot with redundant joints. 911-916. Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China. https://doi.org/10.1109/ROBIO.2013.6739578
Yu, Zhangguo ; Liu, Yan ; Huang, Qiang et al. / Design of a humanoid ping-pong player robot with redundant joints. Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China.6 p.
@conference{b0375f2f57fe4f97a02a4bc0ec60f00d,
title = "Design of a humanoid ping-pong player robot with redundant joints",
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",
language = "English",
pages = "911--916",
note = "2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013 ; Conference date: 12-12-2013 Through 14-12-2013",
}
Yu, Z, Liu, Y, Huang, Q, Chen, X, Zhang, W, Li, J, Ma, G, Meng, L, Li, T & Zhang, W 2013, 'Design of a humanoid ping-pong player robot with redundant joints', Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China, 12/12/13 - 14/12/13 pp. 911-916. https://doi.org/10.1109/ROBIO.2013.6739578
Design of a humanoid ping-pong player robot with redundant joints. /
Yu, Zhangguo; Liu, Yan
; Huang, Qiang et al.
2013. 911-916 Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China.
Research output: Contribution to conference › Paper › peer-review
TY - CONF
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
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84898813131&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2013.6739578
DO - 10.1109/ROBIO.2013.6739578
M3 - Paper
AN - SCOPUS:84898813131
SP - 911
EP - 916
T2 - 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013
Y2 - 12 December 2013 through 14 December 2013
ER -
Yu Z, Liu Y, Huang Q, Chen X, Zhang W, Li J et al.. Design of a humanoid ping-pong player robot with redundant joints. 2013. Paper presented at 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, Shenzhen, China. doi: 10.1109/ROBIO.2013.6739578