High-speed batting using a multi-jointed manipulator

被引：61

作者：

Senoo, T ^{[1
]}

Namiki, A ^{[1
]}

Ishikawa, M ^{[1
]}

机构：

[1] Univ Tokyo, Dept Informat Phys, Bunkyo Ku, Tokyo 1138656, Japan

来源：

2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年

关键词：

D O I：

10.1109/ROBOT.2004.1307986

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper a robotic batting algorithm using a high-speed arm and high-speed stereo vision is proposed. With this strategy, the desired trajectory of the manipulator is generated so that both high-speed swing motion and tracking motion combine to meet the ball squarely with the bat. As a result the manipulator can follow the ball while swinging the bat at high speed even if it is difficult to predict the trajectory of a ball. Experimental results are shown in which a high-speed manipulator hits a ball thrown by a human.

引用

页码：1191 / 1196

页数：6

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