Dynamic sensing in a ping-pong playing robot

Andersson, Russell L.

doi:10.1109/70.88095

Cited by 71 publications

(38 citation statements)

References 7 publications

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“…For catching of balls thrown across a room the flying time is of the order of 0.5-1.0 s, and for teleoperation across the internet typical delays are in the range 0.1-0.4 s for normal socket operations. The autonomous catching of balls using a robot for example has been studied by DLR (Andersson, 1989;Frese et al, 2001;Hove & Slotine, 1991), and others.…”

Section: Introductionmentioning

confidence: 99%

Teleoperation for a ball-catching task with significant dynamics

2008

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a b s t r a c tIn this paper we present ongoing work on how to incorporate human motion models into the design of a high performance teleoperation platform. A short description of human motion models used for ball-catching is followed by a more detailed study of a teleoperation platform on which to conduct experiments. Also, a pilot study using minimum jerk theory to explain user input behavior in teleoperated catching is presented.

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Section: Introductionmentioning

confidence: 99%

Teleoperation for a ball-catching task with significant dynamics

2008

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“…For a robot to complete this task, the trajectory of a moving ball must be predicted in advance. We use the physicalbased method rather than the regression one [2,24] or the quadratic fitting one [1] to predict ball's trajectory.…”

Section: Trajectory Predictionmentioning

confidence: 99%

“…Therefore, designing such a robot is of broad interest in robotics. Andersson [1] firstly constructed a ping-pong robot capable of playing against humans and machines. The ping-pong robot designed by Miyazaki et al can play against humans [2] or play against wall [3].…”

Section: Introductionmentioning

confidence: 99%

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Short-Baseline Binocular Vision System for a Humanoid Ping-Pong Robot

Tian

Sun

Tang

2011

J Intell Robot Syst

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We develop a short-baseline vision system for a humanoid ping-pong robot. The vision system can provide four-dimensional space-time information and can predict the future trajectory of a ball. Short baseline poses special challenges for achieving sufficient 3-D reconstruction and prediction accuracy within limited processing time. We propose two algorithms including direct calibration of projection matrix and Gaussian-fitting based ball-center location to guarantee the 3-D reconstruction accuracy; we propose algorithm of five-point based ball representation and utilize the constraint of ball detecting region to guarantee the processing speed; we also propose algorithm of smoothing-based trajectory prediction to improve the prediction accuracy. Experimental results show the accuracy and the speed of our vision system can meet the requirements of a humanoid ping-pong robot.

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“…[1] [2] [3]). However, such systems have only recently become commercially available and for many research purposes, special experimental setup requirements might still pose constraints that are not easily fulfilled by standard models.…”

Section: Introductionmentioning

confidence: 99%

Using COTS to Construct a High Performance Robot Arm

Smith

Christensen

2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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Abstract-In this paper we present a design study and technical specifications of a high performance robotic manipulator to be used for ball catching experiments using commercial off-the-shelf (COTS) components. Early evaluation shows that very good performance can be achieved using standardized PowerCube actuator modules from Amtec and a standard workstation using CAN bus communication. Implementation issues of low-level control and software platform are also described, as well as early experimental evaluation of the system.

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Dynamic sensing in a ping-pong playing robot

Cited by 71 publications

References 7 publications

Teleoperation for a ball-catching task with significant dynamics

Teleoperation for a ball-catching task with significant dynamics

Short-Baseline Binocular Vision System for a Humanoid Ping-Pong Robot

Using COTS to Construct a High Performance Robot Arm

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