Vision-Based Online Trajectory Generation and Its Application to Catching
نویسندگان
چکیده
In this paper a method for sensor-based online trajectory generation is proposed. This method is based on a nonlinear mapping from sensor information to a desired trajectory, and a nonlinear mapping is decided by online learning based on constraints of dynamics and kinematics. This method is applied to a catching task, and responsive and flexible motion is realized based on realtime high-speed sensory information. Experimental results about catching of a moving object is shown.
منابع مشابه
A New Vision-Based and GPS-Signal-Independent Approach in Jamming Detection and UAV Absolute Positioning Assessment
The Unmanned Aerial Vehicles (UAV) positioning in the outdoor environment is usually done by the Global Positioning System (GPS). Due to the low power of the GPS signal at the earth surface, its performance disrupted in the contaminated environments with the jamming attacks. The UAV positioning and its accuracy using GPS will be degraded in the jamming attacks. A positioning error about tens of...
متن کاملBall Trajectory Estimation and Robot Control to Reach the Ball Using Single Camera
In robotics research, catching a projectile object with a robotic system is one of the challenging problems. The outcome of these researches can be used in a wide range of applications such as video surveillance systems, analysis of sports videos, monitoring programs for human activities, and human-machine interactions. In this paper, we propose a new vision-based algorithm to estimate the traj...
متن کاملExamination of ball tracking and catching task using a monocular vision-based mobile robot
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 ...
متن کاملOnline 3-D Trajectory Estimation of a Flying Object from a Monocular Image Sequence for Catching
Catching a fast moving object can be used to describe work across many subfields of robotics, sensing, processing, actuation, and systems design. The reaction time allowed to the entire robot system: sensors, processor and actuators is very short. The sensor system must provide estimates of the object trajectory as early as possible, so that the robot may begin moving to approximately the corre...
متن کاملRobotic catching using a direct mapping from visual information to motor command
In this paper a robotic catching algorithm based on a nonlinear mapping of visual information to the desired trajectory is proposed. The nonlinear mapping is optimized by learning based on constraints of dynamics and kinematics. As a result a reactive and flexible motion is obtained owing to real-time high-speed visual information. Experimental results on catching a moving object using a high-s...
متن کامل