Design of a humanoid ping-pong player robot with redundant joints

Author

Zhangguo Yu ; Yan Liu ; Qiang Huang ; Xuechao Chen ; Wen Zhang ; Jing Li ; Gan Ma ; Libo Meng ; Tongtong Li ; Weimin Zhang

Author_Institution

Sch. of Mechatronical Eng., Beijing Inst. of Technol., Beijing, China

fYear

2013

fDate

12-14 Dec. 2013

Firstpage

911

Lastpage

916

Abstract

This study investigates the design of a humanoid ping-pong robot system with a 7-DOFs redundant arm. The design of the arm mechanism, real-time binocular vision system, and a distributed control structure was presented. The methods for ball trajectory prediction and motion planning for the ping-pong racket were proposed. A Jacobian pseudoinverse method considering joint limits and manipulability optimization terms is employed to solve inverse kinematics in order to decrease the counterforce exerting on the humanoid robot. The proposed system is validated by a series of rally experiments between the robot and a human.

Keywords

distributed control; humanoid robots; optimisation; path planning; redundant manipulators; robot vision; 7-DOF redundant arm; Jacobian pseudoinverse method; arm mechanism design; ball trajectory prediction; distributed control structure; humanoid ping-pong player robot design; inverse kinematics; joint limits; manipulability optimization terms; motion planning; ping-pong racket; real-time binocular vision system; redundant joints; Humanoid robots; Joints; Planning; Robot kinematics; Robot sensing systems; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on

Conference_Location

Shenzhen

Type

conf

DOI

10.1109/ROBIO.2013.6739578

Filename

6739578