著者

ハン ビンイク 水内 郁夫

出版者

一般社団法人 日本機械学会

雑誌

ロボティクス・メカトロニクス講演会講演概要集

巻号頁・発行日

vol.2014, pp._1A1-O03_1-_1A1-O03_4, 2014

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This paper focuses on making a table tennis robot cheaper and smaller. Unlike previous studies that used high-speed cameras to predict ball's trajectory, we propose using a depth camera (cheaper than a high-speed camera) to measure ball's velocity and position, and predicting ball's trajectory by using rotating ball's equations of motion that is based on aerodynamics. By using the equations of motion, we can also calculate ball's rotational states through ball's velocity and acceleration. We developed a tabletop type omni-directional mobile robot equipped with an arm and a depth camera, with consideration of cost and size.