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 -