Fast Tennis Swing Motion by Ball Trajectory Prediction and Joint Trajectory Modification in Standalone Humanoid Robot Real-time System
Mirai Hattori,Kunio Kojima,Shintaro Noda,Fumihito Sugai,Yohei Kakiuchi,Kei Okada,Masayuki Inaba,Mirai Hattori,Kunio Kojima,Shintaro Noda,Fumihito Sugai,Yohei Kakiuchi,Kei Okada,Masayuki Inaba
In this work, we propose a system for humanoid robot fast motions. When a humanoid robot performs a motion such as a tennis forehand stroke motion, a whole-body fast motion in reaction to visual information is required. There are three problems to tackle. (1) Motion is desired to be quick. (2) Real-time visual processing considering visual noises is needed. (3) Real-time joint angle modification w...
