학술논문
High-speed batting using a multi-jointed manipulator
Document Type
Conference
Author
Source
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 Robotics and automation Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on. 2:1191-1196 Vol.2 2004
Subject
Language
ISSN
1050-4729
Abstract
In this paper a robotic batting algorithm using a high-speed arm and high-speed stereo vision is proposed. With this strategy, the desired trajectory of the manipulator is generated so that both high-speed swing motion and tracking motion combine to meet the ball squarely with the bat. As a result the manipulator can follow the ball while swinging the bat at high speed even if it is difficult to predict the trajectory of a ball. Experimental results are shown in which a high-speed manipulator hits a ball thrown by a human.