Abstract
This study investigates the design of a 7-DOF humanoid manipulator capable of playing table tennis with human-like stroke patterns. The manipulator system includes a redundant arm, real-time stereo vision system, and a distributed motion control system. First, the size, weight, workspace, and motion capability of the designed arm are similar to those of a human's arm. The forward and inverse kinematics, and the Jacobian matrix of the redundant manipulator are formulated. Next, a distributed motion control system is designed. The ball trajectory prediction method is proposed. Then, a human-inspired optimization method based on Jacobian pseudoinverse and the comfort of the arm posture for stroke pattern trajectory is proposed to achieve human-like stroke patterns and decrease the counterforce exerted on the manipulator. Finally, the validity of the proposed system and methods is demonstrated via human-like stroke pattern experiments.
Highlights
The challenging tasks of playing table tennis performed by robots have attracted many researchers [1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16]
In order to validate the effectiveness of the proposed methods and the designed manipulator, we performed a series of experiments with various stroke patterns
(1) From the biomimetic point of view, a redundant arm was designed with physical attributes and motion capability similar to those of a human’s arm
Summary
The challenging tasks of playing table tennis performed by robots have attracted many researchers [1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16] They employed the table tennis robot as extensive research platform for artificial intelligence [3, 6], advanced control algorithms [1, 8], high speed machine vision and prediction [13], fast responses against unforeseen events [17], online trajectory generation within very limited time [2, 10, 15], target tracking and intercepting [6, 14], and so forth. Lai and Tsay [12], Yu et al [14, 16], and Zhang et al [15]
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