2A1-E02 多関節ロボットアームと高速ビジョンを用いたエアホッケーシステム

概要

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The goal of this study is to develop the technology of high-speed human interactive robot in which the robot reads the opponent's intention and moves in response to the opponent's motion and human purpose expectation. To achieve this, we develop an air hockey system using a high speed manipulator, high speed image processing method and real-time control system. The manipulator can play the air hockey game based on a recursive trajectory generation using continuous images from high-speed vision. First, the position of the puck is measured by removing noise from the image sequences. Secondly, the motion of the puck is estimated by using recursive least square estimation. Thirdly, the trajectory of the arm is generated so as to defend the goal. Then, we show the data of experiments and verify the effectiveness of the system.