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

Fumiaki TAKAGI; Fumio MIYAZAKI; Ryosuke MORI

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Paper

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

Topics: Mobile Robots and Autonomous Systems

In Proceedings of the Second International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 100-105, 2005 , Barcelona, Spain

Authors: Fumiaki TAKAGI ¹ ; Fumio MIYAZAKI ¹ and Ryosuke MORI ²

Affiliations: ¹ Graduate School of Engineering Science, Osaka University, Japan ; ² Graduate School of Information Science, Tohoku University, Japan

Keyword(s): Ball catching, monocular vision, non-holonomic, mobile robot, visual feedback.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation

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.

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Paper citation in several formats:

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; ISSN 2184-2809, SciTePress, pages 100-105. DOI: 10.5220/0001161801000105

@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},
issn={2184-2809},
}

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
IS - 2184-2809
AU - TAKAGI, F.
AU - MIYAZAKI, F.
AU - MORI, R.
PY - 2005
SP - 100
EP - 105
DO - 10.5220/0001161801000105
PB - SciTePress