Ping-Pong Robotics with High-Speed Vision System

Hailing Li, Haiyan Wu, Lei Lou, Kolja Kühnlenz, Ole Ravn

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Abstract

The performance of vision-based control is usually limited by the low sampling rate of the visual feedback. We address Ping-Pong robotics as a widely studied example which requires high-speed vision for highly dynamic motion control. In
order to detect a flying ball accurately and robustly, a multithreshold legmentation algorithm is applied in a stereo-vision running at 150Hz. Based on the estimated 3D ball positions, a novel two-phase trajectory prediction is exploited to determine the hitting position. Benefiting from the high-speed visual feedback, the hitting position and thus the motion planning of the manipulator are updated iteratively with decreasing error. Experiments are conducted on a 7 degrees of freedom humanoid robot arm. A successful Ping-Pong playing between the robot arm and human is achieved with a high successful rate of 88%.
Original languageEnglish
Title of host publication12th International Conference on Control Automation Robotics & Vision (ICARCV), 2012
Number of pages6
PublisherIEEE
Publication date2012
Pages106 - 111
ISBN (Print)978-1-4673-1871-6
ISBN (Electronic)978-1-4673-1870-9
DOIs
Publication statusPublished - 2012
Event12th International Conference on Control Automation Robotics & Vision (ICARCV 2012) - Guangzhou Baiyun International Convention Center, Guangzhou, China
Duration: 5 Dec 20127 Dec 2012

Conference

Conference12th International Conference on Control Automation Robotics & Vision (ICARCV 2012)
LocationGuangzhou Baiyun International Convention Center
CountryChina
CityGuangzhou
Period05/12/201207/12/2012

Cite this

Li, H., Wu, H., Lou, L., Kühnlenz, K., & Ravn, O. (2012). Ping-Pong Robotics with High-Speed Vision System. In 12th International Conference on Control Automation Robotics & Vision (ICARCV), 2012 (pp. 106 - 111). IEEE. https://doi.org/10.1109/ICARCV.2012.6485142