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 | |
发表期刊 | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT |
2018-04-01 | |
卷号 | 67期号:4页码:811-820 |
文章类型 | Article |
摘要 | 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. |
关键词 | Hitting Point Opponent Hitting Behavior Table Tennis Robot Visual Measurement |
WOS标题词 | Science & Technology ; Technology |
DOI | 10.1109/TIM.2017.2789139 |
关键词[WOS] | PING-PONG PLAYER ; PREDICTION |
收录类别 | SCI |
语种 | 英语 |
项目资助者 | National Natural Science Foundation of China(61305024 ; Beijing Natural Science Foundation(3141002) ; 61273337 ; 61333016) |
WOS研究方向 | Engineering ; Instruments & Instrumentation |
WOS类目 | Engineering, Electrical & Electronic ; Instruments & Instrumentation |
WOS记录号 | WOS:000427126700011 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/21170 |
专题 | 复杂系统管理与控制国家重点实验室_先进机器人 |
作者单位 | 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 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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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