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Real-Time Visual Measurement With Opponent Hitting Behavior for Table Tennis Robot

文献类型：期刊论文

作者Zhang, Kun1,2; Cao, Zhiqiang1,2; Liu, Jianran1,2; Fang, Zaojun3; Tan, Min1,2
刊名IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
出版日期2018-04-01
卷号67期号:4页码:811-820
关键词Hitting Point Opponent Hitting Behavior Table Tennis Robot Visual Measurement
DOI10.1109/TIM.2017.2789139
文献子类Article
英文摘要In this paper, a visual-based method is proposed for the table tennis robot to estimate the hitting point from the opponent, which can provide a better understanding of the opponent, and thus improve the responsiveness of the table tennis robot. As an essential manifestation of opponent hitting behavior, the information of hitting point includes not only the motion status variation of the ball before and after being hit, but also the racket pose at the hitting moment. To solve this problem, the trajectories of the ball before and after being hit are first predicted based on visual measurement and the motion model of the ball. The racket trajectory of the opponent is then derived by a self-adaptive threshold selection scheme and a multifilter. Considering that the ball and racket trajectories are not absolutely precise, an optimized solution is proposed to compute the hitting point from the opponent. To the best of our knowledge, the proposed approach is the first one that could achieve a fast estimation of the hitting point from the opponent with a satisfactory resolution. The effectiveness of the proposed approach is verified by experiments.
WOS关键词PING-PONG PLAYER ; PREDICTION
WOS研究方向Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:000427126700011
资助机构National Natural Science Foundation of China(61305024 ; Beijing Natural Science Foundation(3141002) ; 61273337 ; 61333016)
源URL[http://ir.ia.ac.cn/handle/173211/21170]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Ningbo Inst Ind Technol, Ningbo 315201, Zhejiang, Peoples R China
推荐引用方式
GB/T 7714		 Zhang, Kun,Cao, Zhiqiang,Liu, Jianran,et al. Real-Time Visual Measurement With Opponent Hitting Behavior for Table Tennis Robot[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2018,67(4):811-820.
APA Zhang, Kun,Cao, Zhiqiang,Liu, Jianran,Fang, Zaojun,&Tan, Min.(2018).Real-Time Visual Measurement With Opponent Hitting Behavior for Table Tennis Robot.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,67(4),811-820.
MLA Zhang, Kun,et al."Real-Time Visual Measurement With Opponent Hitting Behavior for Table Tennis Robot".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 67.4(2018):811-820.

入库方式： OAI收割

来源：自动化研究所

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