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Browsing by Author "Kai, Chen-Yu"

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    A Ball-Throwing Robot with Visual Feedback
    (2010-01-01)
    Hu, Jwu-Sheng
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    Chien, Ming-Chih
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    Chang, Yung-Jung
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    Su, Shyh-Haur
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    Kai, Chen-Yu
    This work presents a robot system for throwing a ball into a basket. A stereo vision system is used to measure the position of the target in 3D space. The ball-throwing transformation between the input command of the robot system and the target position is built by cubic polynomial. Through ball-throwing transformation with visual feedback for target position, the robot throws the ball toward the target which can randomly move to everywhere in visible field. The percentage of successful ball-throwing for target within three meters was found to be approximately 99%.
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    A Robotic Ball Catcher with Embedded Visual Servo Processor
    (2010-01-01)
    Hu, Jwu-Sheng
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    Chien, Ming-Chih
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    Chang, Yung-Jung
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    Chang, Yen-Chung
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    Su, Shyh-Haur
    In this work we present a robotic ball catcher with embedded visual servo processor. The embedded visual servo processor with powerful parallel computing capability is used as the computation platform to track and triangulate a flying ball's position in 3D based on stereo vision. A recursive least squares algorithm for model-based path prediction of the flying ball is used to determine the catch time and position. Experimental results for real time catching of a flying ball are presented by a 6-DOF robot arm. The percentage of success rate of the robotic ball catcher was found to be approximately 60% for the ball thrown to it from five meters away.