標題: A Robotic Ball Catcher with Embedded Visual Servo Processor
作者: Hu, Jwu-Sheng
Chien, Ming-Chih
Chang, Yung-Jung
Chang, Yen-Chung
Su, Shyh-Haur
Yang, Jwu-Jiun
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: 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.
URI: http://dx.doi.org/10.1109/IROS.2010.5648912
http://hdl.handle.net/11536/146287
ISSN: 2153-0858
DOI: 10.1109/IROS.2010.5648912
期刊: IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010)
起始頁: 2513
顯示於類別:會議論文