Development of Air Hockey Robot with High-Speed Vision and High-Speed Wrist

被引：1

作者：

Tadokoro, Koichiro ^{[1
]}

Fukuda, Shotaro ^{[1
]}

Namiki, Akio ^{[2
]}

机构：

[1] Chiba Univ, Grad Sch Sci & Engn, Inage Ku, 1-33 Yayoi Cho, Chiba 2638522, Japan

[2] Chiba Univ, Grad Sch Engn, Inage Ku, 1-33 Yayoi Cho, Chiba 2638522, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2022年 / 34卷 / 05期

基金：

日本学术振兴会;

关键词：

air hockey robot; high-speed vision; human-robot interaction;

D O I：

10.20965/jrm.2022.p0956

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

Our research group has developed an air hockey robot with high-speed vision capable of visual recognition at 500 Hz, which exceeds that of humans. Although this robot uses high-speed vision to increase its reaction speed and improve its performance, it has a low speed to compete with humans because its hand speed is still not sufficiently fast. In this study, a high-speed wrist rotation mechanism using a direct drive motor was introduced to the air hockey robot to improve the hitting speed through the snapping motion of the wrist. Furthermore, we developed a hitting motion algorithm that utilizes high-speed visual feedback. The effectiveness of the proposed system was verified experimentally. The proposed system exhibits an improved motion performance.

引用

页码：956 / 964

页数：9

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