EXAMINATION OF BALL TRACKING AND CATCHING TASK USING A MONOCULAR VISION-BASED MOBILE ROBOT

Fumiaki TAKAGI, Fumio MIYAZAKI, Ryosuke MORI

Abstract

This paper presents an implementation of a ball catching task using a monocular vision-based mobile robot. We have proposed a motion strategy for catching a ball flying in three-dimensional space. This strategy has its roots in the field of experimental psychology but is more powerful and concentrated on a robot. A practical trajectory control law is derived for a non-holonomic mobile robot to track and catch a ball. This control law educes the full potential of the motion strategy: we experimentally demonstrate that a monocular vision-based mobile robot, coping with the problem due to its non-holonomic constraint, successfully catches a ball.

References

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Paper Citation


in Harvard Style

TAKAGI F., MIYAZAKI F. and MORI R. (2005). EXAMINATION OF BALL TRACKING AND CATCHING TASK USING A MONOCULAR VISION-BASED MOBILE ROBOT . In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 972-8865-30-9, pages 100-105. DOI: 10.5220/0001161801000105


in Bibtex Style

@conference{icinco05,
author={Fumiaki TAKAGI and Fumio MIYAZAKI and Ryosuke MORI},
title={EXAMINATION OF BALL TRACKING AND CATCHING TASK USING A MONOCULAR VISION-BASED MOBILE ROBOT},
booktitle={Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2005},
pages={100-105},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001161801000105},
isbn={972-8865-30-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - EXAMINATION OF BALL TRACKING AND CATCHING TASK USING A MONOCULAR VISION-BASED MOBILE ROBOT
SN - 972-8865-30-9
AU - TAKAGI F.
AU - MIYAZAKI F.
AU - MORI R.
PY - 2005
SP - 100
EP - 105
DO - 10.5220/0001161801000105