Stroke motion learning for a humanoid robotic ping-pong player using a novel motion capture system

C. H. Lai, T. I. James Tsay

研究成果: Article同行評審

3 引文 斯高帕斯(Scopus)

摘要

Problem statement: Human ping-pong players determine the stroke trajectory according to their experience before the ball enters their court. However, to enable a humanoid robot to select the appropriate stroke motion based on skills learned from 3D motion, important patterns must be generated to simplify the complex 3D motion. Approach: This study developed an effective strategy for teaching ping-pong skills to a humanoid robot. An optical/inertial motion-capture system that retrieves the stroke motion was constructed, along with the retrieved stroke motion trajectories analyzed to obtain the desired stroke patterns of the robot. Results: A motion capture system was implemented mainly to orient the robot on the stroke motion trajectory. This system was applied directly to a ping-pong game between a human player and a pitching machine to enable the robot to learn backhand strokes through human demonstration. The ball was continuously struck to the opponent so that it hit the anticipated region on the opposite side of the court while the pitching machine served the ball. The data were then classified using the proposed stopping detector and then processed by Principal Components Analysis (PCA) to generate the stroke patterns after collecting 50 datasets for stroke trajectories. Conclusion: The right arm of the humanoid robot was successfully instructed to perform the actual ping-pong stroke using the generated trajectory.

原文English
頁(從 - 到)946-954
頁數9
期刊Journal of Computer Science
6
發行號8
DOIs
出版狀態Published - 2010

All Science Journal Classification (ASJC) codes

  • 軟體
  • 電腦網路與通信
  • 人工智慧

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