Modeling the stroke process in table tennis robot using neural network

	Modeling the stroke process in table tennis robot using neural network
	Zhang K(张鵾); Fang Zaojun; Liu Jianran; Tan Min
	2016-02-25
会议名称	IEEE International Conference on Robotics and Biomimetics
页码	243-248
会议日期	2015
会议地点	Zhuhai, China
摘要	To hit incoming balls back to a desired position, it is a key factor for table tennis robot to get racket parameters accurately. For modeling the stroke process, a novel model is built based on multiple neural networks. The input data for neural networks are the ball velocity differences during the stroke, and racket parameters are the output data. To reduce the influences from the invalid data, a neural network based on each empirical data is established. The training data are clustered based on the empirical data. The way of choosing a neural network to compute the racket parameters depends on the comparison between the new coming data and the empirical data. Moreover, a novel way based on a binocular vision system to verify the stroke model is proposed. Experimental results have showed that the stroke model created via the proposed method is applicable and the verification method is effective.
关键词	Neural Networks Trajectory Cameras Robot Kinematics Machine Vision Data Models
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/21171
专题	复杂系统认知与决策实验室_先进机器人
作者单位	中国科学院自动化所
推荐引用方式 GB/T 7714	Zhang K,Fang Zaojun,Liu Jianran,et al. Modeling the stroke process in table tennis robot using neural network[C],2016:243-248.

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