Title :
Design and implementation of a ball-batting robot with optimal batting decision making ability
Author :
Tesheng Hsiao ; Chang-Mou Yang ; I-Hsi Lee ; Chin-Chi Hsiao
Author_Institution :
Inst. of Electr. Control Eng., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Abstract :
In this paper, we establish a ball-batting robotic system which consists of a four-joint robot arm with a paddle at its tip, and a high-speed stereovision system. The stereovision system tracks and predicts the trajectory of a flying ball. Then the robot hits the flying ball with the paddle and sends the rebounding ball to a desired location. An optimal batting decision making algorithm is proposed which determines the “best” impact time, position, and paddle velocity to ensure the arrival of the rebounding ball at the desired location. Experiments are conducted repeatedly and the results demonstrate that the performance of the ball-batting robot is similar to that of non-professional human players.
Keywords :
decision making; manipulators; robot vision; sport; ball-batting robot; best impact time; flying ball trajectory; four-joint robot arm; high-speed stereovision system; nonprofessional human players; optimal batting decision making ability; optimal batting decision making algorithm; paddle velocity; position; rebounding ball; Cameras; Decision making; Joints; Robot kinematics; Robot vision systems; Trajectory; Ball-Batting Robot; Decision Making; Motion Control; Visual Tracking;
Conference_Titel :
Automation Science and Engineering (CASE), 2014 IEEE International Conference on
Conference_Location :
Taipei
DOI :
10.1109/CoASE.2014.6899452