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
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
收藏
页码:956 / 964
页数:9
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