| 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
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| Source Publication | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
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| 2018-04-01 | |
| Volume | 67Issue:4Pages:811-820 |
| Subtype | Article |
| Abstract | In 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. |
| Keyword | Hitting Point Opponent Hitting Behavior Table Tennis Robot Visual Measurement |
| WOS Headings | Science & Technology ; Technology |
| DOI | 10.1109/TIM.2017.2789139 |
| WOS Keyword | PING-PONG PLAYER ; PREDICTION |
| Indexed By | SCI |
| Language | 英语 |
| Funding Organization | National Natural Science Foundation of China(61305024 ; Beijing Natural Science Foundation(3141002) ; 61273337 ; 61333016) |
| WOS Research Area | Engineering ; Instruments & Instrumentation |
| WOS Subject | Engineering, Electrical & Electronic ; Instruments & Instrumentation |
| WOS ID | WOS:000427126700011 |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://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 |
| Affiliation | 1.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 |
| First Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| 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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| Real-Time Visual Mea（2817KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | View Download | |
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