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Real-Time Visual Measurement With Opponent Hitting Behavior for Table Tennis Robot
Zhang, Kun1,2; Cao, Zhiqiang1,2; Liu, Jianran1,2; Fang, Zaojun3; Tan, Min1,2
Source PublicationIEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
2018-04-01
Volume67Issue:4Pages:811-820
SubtypeArticle
AbstractIn this paper, a visual-based method is proposed for the table tennis robot to estimate the hitting point from the opponent, which can provide a better understanding of the opponent, and thus improve the responsiveness of the table tennis robot. As an essential manifestation of opponent hitting behavior, the information of hitting point includes not only the motion status variation of the ball before and after being hit, but also the racket pose at the hitting moment. To solve this problem, the trajectories of the ball before and after being hit are first predicted based on visual measurement and the motion model of the ball. The racket trajectory of the opponent is then derived by a self-adaptive threshold selection scheme and a multifilter. Considering that the ball and racket trajectories are not absolutely precise, an optimized solution is proposed to compute the hitting point from the opponent. To the best of our knowledge, the proposed approach is the first one that could achieve a fast estimation of the hitting point from the opponent with a satisfactory resolution. The effectiveness of the proposed approach is verified by experiments.
KeywordHitting Point Opponent Hitting Behavior Table Tennis Robot Visual Measurement
WOS HeadingsScience & Technology ; Technology
DOI10.1109/TIM.2017.2789139
WOS KeywordPING-PONG PLAYER ; PREDICTION
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61305024 ; Beijing Natural Science Foundation(3141002) ; 61273337 ; 61333016)
WOS Research AreaEngineering ; Instruments & Instrumentation
WOS SubjectEngineering, Electrical & Electronic ; Instruments & Instrumentation
WOS IDWOS:000427126700011
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Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/21170
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China
3.Chinese Acad Sci, Ningbo Inst Ind Technol, Ningbo 315201, Zhejiang, Peoples R China
Recommended Citation
GB/T 7714
Zhang, Kun,Cao, Zhiqiang,Liu, Jianran,et al. Real-Time Visual Measurement With Opponent Hitting Behavior for Table Tennis Robot[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2018,67(4):811-820.
APA Zhang, Kun,Cao, Zhiqiang,Liu, Jianran,Fang, Zaojun,&Tan, Min.(2018).Real-Time Visual Measurement With Opponent Hitting Behavior for Table Tennis Robot.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,67(4),811-820.
MLA Zhang, Kun,et al."Real-Time Visual Measurement With Opponent Hitting Behavior for Table Tennis Robot".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 67.4(2018):811-820.
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