System Design of an Anthropomorphic Arm Robot for Dynamic Interaction Task

摘要：

This paper investigates the system design of a 7-DOFs Anthropomorphic arm robot for fast dynamic interaction task, taking the ping-pong rally task against human as an example. The robot system includes the arm mechanism, real-time stereo vision sub-system, ball trajectory prediction, racket motion trajectory planning, and distributed joint controllers. The algorithms for ball identification, ball trajectory prediction, and hitting planning are presented. The validity of the system is demonstrated via rally experiments.

关键词： Ping-pong robot dynamic interaction trajectory prediction motion planning

作者: Zhangguo Yu Si Zhang Ningjun Fan Qiang Huang Xuechao Chen Wei Xu Jing Li Gan Ma Xiaopeng Chen Weimin Zhang Huaping Wang

作者单位: Intelligent Robotics Institute,School of Mechatronical Engineering, Beijing Institute of Technology,Nandajie,Zhongguancun,Haidian,Beijing,100081,China

会议类型: 国际会议

会议名称: 2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

会议地点: 四川绵阳

会议语种:英文

页码: 4212-4217

在线出版日期: 2011-05-23（万方平台首次上网日期，不代表论文的发表时间）