標題: | A Ball-Throwing Robot with Visual Feedback |
作者: | Hu, Jwu-Sheng Chien, Ming-Chih Chang, Yung-Jung Su, Shyh-Haur Kai, Chen-Yu 電控工程研究所 Institute of Electrical and Control Engineering |
公開日期: | 1-一月-2010 |
摘要: | 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%. |
URI: | http://dx.doi.org/10.1109/IROS.2010.5649335 http://hdl.handle.net/11536/146286 |
ISSN: | 2153-0858 |
DOI: | 10.1109/IROS.2010.5649335 |
期刊: | IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) |
起始頁: | 2511 |
顯示於類別: | 會議論文 |