Design and implementation of a ball-batting robot with optimal batting decision making ability

Hsiao, Tesheng; Yang, Chang-Mou; Lee, I-Hsi; Hsiao, Chin-Chi

doi:10.1109/coase.2014.6899452

Cited by 9 publications

(3 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Furthermore benefiting from optimization on the basis of natural human behavior, another approach distinguished between two strategies of playing (defensive and focused respectively) under consideration of joint limits and applying third order polynomial trajectories [19]. As a further approach towards timing, [20] introduced a robotic system which is able to bat a ball to a desired position by also optimizing temporal aspects of the rebounding ball's arrival.…”

Section: Related Workmentioning

confidence: 99%

Biologically Inspired Model for Timed Motion in Robotic Systems

Doliwa¹,

Hussain²,

Sziburis³

et al. 2021

Preprint

View full text Add to dashboard Cite

The goal of this work is the development of a motion model for sequentially timed movement actions in robotic systems under specific consideration of temporal stabilization, that is maintaining an approximately constant overall movement time (isochronous behavior). This is demonstrated both in simulation and on a physical robotic system for the task of intercepting a moving target in three-dimensional space. Motivated from humanoid motion, timing plays a vital role to generate a naturalistic behavior in interaction with the dynamic environment as well as adaptively planning and executing action sequences on-line. In biological systems, many of the physiological and anatomical functions follow a particular level of periodicity and stabilization, which exhibit a certain extent of resilience against external disturbances. A main aspect thereof is stabilizing movement timing against limited perturbations. Especially human arm movement, namely when it is tasked to reach a certain goal point, pose or configuration, shows a stabilizing behavior. This work incorporates the utilization of an extended Kalman filter (EKF) which was implemented to predict the target position while coping with non-linear system dynamics. The periodicity and temporal stabilization in biological systems was artificially generated by a Hopf oscillator, yielding a sinusoidal velocity profile for smooth and repeatable motion.

show abstract

Section: Related Workmentioning

confidence: 99%

Biologically Inspired Model for Timed Motion in Robotic Systems

Doliwa¹,

Hussain²,

Sziburis³

et al. 2021

Preprint

View full text Add to dashboard Cite

show abstract

“…A parallel computation architecture was used to reduce image transfer and processing time, and an active vision system with moving cameras was developed to track the moving objects. Tesheng et al [13] used an aerodynamic model of a ball to account for the trajectory of the ball before and after collision to improve the performance of ball direction control. Serra et al conducted the study of hitting a table tennis ball to the desired position [14].…”

Section: Introductionmentioning

confidence: 99%

“…Serra et al conducted the study of hitting a table tennis ball to the desired position [14]. To accurately control the arrival position of the ball after hitting, a more accurate aerodynamic model that that in [13] was applied for the trajectory estimation of the ball. Although the algorithms were tested via simulations, the implementation of the algorithms on an actual hardware system was left to be covered under future work.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Nonprehensile Manipulation of a Moving Object Using a Batting Primitive

Joe

Lee

2021

Applied Sciences

View full text Add to dashboard Cite

To achieve human-level object manipulation capability, a robot must be able to handle objects not only with prehensile manipulation, such as pick-and-place, but also with nonprehensile manipulation. To study nonprehensile manipulation, we studied robotic batting, a primitive form of nonprehensile manipulation. Batting is a challenging research area because it requires sophisticated and fast manipulation of moving objects and requires considerable improvement. In this paper, we designed a batting system for dynamic manipulation of a moving ball and proposed several algorithms to improve the task performance of batting. To improve the recognition accuracy of the ball, we proposed a circle-fitting method that complements color segmentation. This method enabled robust ball recognition against illumination. To accurately estimate the trajectory of the recognized ball, weighted least-squares regression considering the accuracy according to the distance of a stereo vision sensor was used for trajectory estimation, which enabled more accurate and faster trajectory estimation of the ball. Further, we analyzed the factors influencing the success rate of ball direction control and applied a constant posture control method to improve the success rate. Through the proposed methods, the ball direction control performance is improved.

show abstract