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
收藏
页码：1191 / 1196
页数：6
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