Kenichi Murakami, Y. Yamakawa, T. Senoo, M. Ishikawa
{"title":"用高速视觉反馈捕捉轻球的运动规划","authors":"Kenichi Murakami, Y. Yamakawa, T. Senoo, M. Ishikawa","doi":"10.1109/ROBIO.2015.7418790","DOIUrl":null,"url":null,"abstract":"High-speed manipulation has great potential to produce new robotic skills by exploiting the features of high-speed motion. The purpose of this study is to catch a lightweight ball with a high-speed hand-arm system and high-speed visual feedback. One of the main problems in catching a high-speed moving lightweight ball is that the ball easily bounces off the hand after hitting the hand. Therefore in this paper, we propose a catching strategy that reduces the relative velocity between the hand and the ball. We show experimental results of a high-speed manipulator catching a ball.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"62 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":"{\"title\":\"Motion planning for catching a light-weight ball with high-speed visual feedback\",\"authors\":\"Kenichi Murakami, Y. Yamakawa, T. Senoo, M. Ishikawa\",\"doi\":\"10.1109/ROBIO.2015.7418790\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"High-speed manipulation has great potential to produce new robotic skills by exploiting the features of high-speed motion. The purpose of this study is to catch a lightweight ball with a high-speed hand-arm system and high-speed visual feedback. One of the main problems in catching a high-speed moving lightweight ball is that the ball easily bounces off the hand after hitting the hand. Therefore in this paper, we propose a catching strategy that reduces the relative velocity between the hand and the ball. We show experimental results of a high-speed manipulator catching a ball.\",\"PeriodicalId\":325536,\"journal\":{\"name\":\"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"62 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"6\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2015.7418790\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2015.7418790","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Motion planning for catching a light-weight ball with high-speed visual feedback
High-speed manipulation has great potential to produce new robotic skills by exploiting the features of high-speed motion. The purpose of this study is to catch a lightweight ball with a high-speed hand-arm system and high-speed visual feedback. One of the main problems in catching a high-speed moving lightweight ball is that the ball easily bounces off the hand after hitting the hand. Therefore in this paper, we propose a catching strategy that reduces the relative velocity between the hand and the ball. We show experimental results of a high-speed manipulator catching a ball.
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