Abstract
This paper presents a developed Air Hockey Robot system, comprising camera unit, processing unit, and arm unit. This system performs as (1) detecting position of an Air Hockey puck from images captured using a ceil camera, (2) generating a 2-axis robot arm trajectory and (3) controlling the arm in order to shoot the puck to an opponent human player. Thus, the processing unit needs to execute three processes, i.e., image processing, trajectory generation, and arm control process. In this paper, we pay the most attention to trajectory generation process for improving the robot offensive performance. We give the robot a skill as attacking a weak point of human vision mechanism with respect to trajectory generation of the robot arm when it shoots stationary puck. In other words, the human player needs to change gaze points between the robot hand and the moving puck because the human can observe any object finely only in their central field of view, corresponding to around a fovea in spite of their quite wide field of view. Thus, we intend to plan the arm trajectory generation and control the arm as more easily the human players has a mistake caused by a time delay occurring when the human players switch their gaze point. Verification experiments, of changing speed of the puck shot from the same arm trajectory as the human players' mistake is caused easily, have been conducted using the developed Air Hockey Robot system.
| Original language | English |
|---|---|
| Title of host publication | Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society |
| Pages | 3364-3369 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 2011 |
| Externally published | Yes |
| Event | 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC Duration: 2011 Nov 7 → 2011 Nov 10 |
Other
| Other | 37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 |
|---|---|
| City | Melbourne, VIC |
| Period | 11/11/7 → 11/11/10 |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
Development of Air Hockey Robot improving with the human players - Arm control for effective quick draw taking an opponent-s eye movement into account-. / Ogawa, Masaya; Shimizu, Sota; Kadogawa, Takumi; Hashizume, Takumi; Kudoh, Shunsuke; Suehiro, Takashi; Sato, Yoshihiro; Ikeuchi, Katsushi.
Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society. 2011. p. 3364-3369 6119852.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Development of Air Hockey Robot improving with the human players - Arm control for effective quick draw taking an opponent-s eye movement into account-
AU - Ogawa, Masaya
AU - Shimizu, Sota
AU - Kadogawa, Takumi
AU - Hashizume, Takumi
AU - Kudoh, Shunsuke
AU - Suehiro, Takashi
AU - Sato, Yoshihiro
AU - Ikeuchi, Katsushi
PY - 2011
Y1 - 2011
N2 - This paper presents a developed Air Hockey Robot system, comprising camera unit, processing unit, and arm unit. This system performs as (1) detecting position of an Air Hockey puck from images captured using a ceil camera, (2) generating a 2-axis robot arm trajectory and (3) controlling the arm in order to shoot the puck to an opponent human player. Thus, the processing unit needs to execute three processes, i.e., image processing, trajectory generation, and arm control process. In this paper, we pay the most attention to trajectory generation process for improving the robot offensive performance. We give the robot a skill as attacking a weak point of human vision mechanism with respect to trajectory generation of the robot arm when it shoots stationary puck. In other words, the human player needs to change gaze points between the robot hand and the moving puck because the human can observe any object finely only in their central field of view, corresponding to around a fovea in spite of their quite wide field of view. Thus, we intend to plan the arm trajectory generation and control the arm as more easily the human players has a mistake caused by a time delay occurring when the human players switch their gaze point. Verification experiments, of changing speed of the puck shot from the same arm trajectory as the human players' mistake is caused easily, have been conducted using the developed Air Hockey Robot system.
AB - This paper presents a developed Air Hockey Robot system, comprising camera unit, processing unit, and arm unit. This system performs as (1) detecting position of an Air Hockey puck from images captured using a ceil camera, (2) generating a 2-axis robot arm trajectory and (3) controlling the arm in order to shoot the puck to an opponent human player. Thus, the processing unit needs to execute three processes, i.e., image processing, trajectory generation, and arm control process. In this paper, we pay the most attention to trajectory generation process for improving the robot offensive performance. We give the robot a skill as attacking a weak point of human vision mechanism with respect to trajectory generation of the robot arm when it shoots stationary puck. In other words, the human player needs to change gaze points between the robot hand and the moving puck because the human can observe any object finely only in their central field of view, corresponding to around a fovea in spite of their quite wide field of view. Thus, we intend to plan the arm trajectory generation and control the arm as more easily the human players has a mistake caused by a time delay occurring when the human players switch their gaze point. Verification experiments, of changing speed of the puck shot from the same arm trajectory as the human players' mistake is caused easily, have been conducted using the developed Air Hockey Robot system.
UR - http://www.scopus.com/inward/record.url?scp=84856521357&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84856521357&partnerID=8YFLogxK
U2 - 10.1109/IECON.2011.6119852
DO - 10.1109/IECON.2011.6119852
M3 - Conference contribution
AN - SCOPUS:84856521357
SN - 9781612849720
SP - 3364
EP - 3369
BT - Proceedings: IECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
ER -