Development of Air Hockey Robot improving with the human players
Development of Air Hockey Robot improving with the human players
复制标题
空气曲棍球机器人的开发与人类运动员一起提高
DOI：
10.1109/iecon.2011.6119852
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
K. Ikeuchi
中科院分区：
文献类型：
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作者：
Masaya Ogawa;S. Shimizu;Takumi Kadogawa;T. Hashizume;S. Kudoh;T. Suehiro;Yoshihiro Sato;K. Ikeuchi
本文介绍了一种空气曲棍球机器人系统，包括摄像机单元，处理单元，手臂单元。该系统执行如下操作：（1）从使用细胞相机捕获的图像检测空气曲棍球冰球的位置，（2）生成2轴机器人臂轨迹，以及（3）控制臂以便将冰球射给对手人类选手。因此，处理单元需要执行三个处理，即，图像处理、轨迹生成和臂控制过程。在本文中，我们最关注的轨迹生成过程，以提高机器人的进攻性能。我们给机器人一个技能，攻击人类视觉机制的弱点，相对于机器人手臂的轨迹生成时，它拍摄固定冰球。换句话说，人类玩家需要改变机器人手和移动的冰球之间的注视点，因为人类可以仅在其中心视场中精细地观察任何对象，所述中心视场对应于中央凹周围，尽管其视场相当宽。因此，我们打算计划手臂轨迹生成并控制手臂，因为人类玩家更容易在人类玩家切换他们的注视点时发生时间延迟而导致错误。使用开发的空中曲棍球机器人系统进行了验证实验，即改变从同一手臂轨迹射出冰球的速度，因为人类球员容易造成错误。
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.