High-Speed Batting Using a Multi-Jointed Manipulator

Summary

Batting motion using a high-speed arm and a high-speed stereo vision is represented. In the algorithm, in order to achieve both rapidity of swing and accuracy of hitting, a hybrid trajectory generator of both visual information and time variable is proposed and it is compensated by visual feedback in real time. As a result, under a severe condition that such as when the manipulator must immediately start to swing 0.1s after the vision sensor recognized the ball, the manipulator can hit the ball near the core of the bat by high-speed visual feedback.

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References

1. Taku Senoo, Akio Namiki and Masatoshi Ishikawa: Hybrid Trajectory Generation of an Articulated Manipulator for High-speed Batting. Journal of the Robotics Society of Japan, Vol.24, No.4, pp.515-522, 2006.
2. Taku Senoo, Akio Namiki and Masatoshi Ishikawa. High-Speed Batting Using a Multi-Jointed Manipulator. 2004 IEEE International Conference on Robotics and Automation. (New Orleans, USA, 2004. 4.28) / Proceedings, pp.1191-1196.
3. Akio Namiki, Yoshiro Imai, Taku Senoo and Masatoshi Ishikawa. Dynamic Manipulation Using High-speed Multifingered Hand-Arm System-Grasping, Catching, and Batting-. 2004 IEEE International Conference on Robotics and Automation. (New Orleans, USA, 2004. 4.26-5.1) / Video Proceedings, No.L.