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  1. B200 工学部/工学研究科
  2. B200e 会議資料
  3. 国際会議

Hitting Back-Spin Balls by Robotic Table Tennis System based on Physical Models of Ball Motion

http://hdl.handle.net/2237/20770
http://hdl.handle.net/2237/20770
beab687d-df37-439f-ab56-f858845931d9
名前 / ファイル ライセンス アクション
0107.pdf 0107.pdf (1.2 MB)
Item type 会議発表論文 / Conference Paper(1)
公開日 2014-11-11
タイトル
タイトル Hitting Back-Spin Balls by Robotic Table Tennis System based on Physical Models of Ball Motion
言語 en
著者 Nakashima, Akira

× Nakashima, Akira

WEKO 54358

en Nakashima, Akira

Search repository
Nonomura, Junko

× Nonomura, Junko

WEKO 54359

en Nonomura, Junko

Search repository
Liu, Chunfang

× Liu, Chunfang

WEKO 54360

en Liu, Chunfang

Search repository
Hayakawa, Yoshikazu

× Hayakawa, Yoshikazu

WEKO 54361

en Hayakawa, Yoshikazu

Search repository
アクセス権
アクセス権 open access
アクセス権URI http://purl.org/coar/access_right/c_abf2
キーワード
主題Scheme Other
主題 robotics
キーワード
主題Scheme Other
主題 physical models
キーワード
主題Scheme Other
主題 model reference
キーワード
主題Scheme Other
主題 manipulators
キーワード
主題Scheme Other
主題 inverse kinematic problem
キーワード
主題Scheme Other
主題 motion planning
抄録
内容記述 In this paper, we develop a robotic table tennis system in the case of the back spin with the same measurement method and the ball models of the aerodynamics and the rebounds as in the study of Nakashima et al. (2011). First, the aerodynamics model is improved for precise prediction of the ball trajectory with data of the flying back-spin ball. Second, a method to determine the racket motion is shown where approximated inverse problems of the models are solved with optimizations. Third, a motion planning of the robot to achieve the racket motion is proposed with the velocity limitation of the robot joints. Experimental results are shown to verify the effectiveness of the proposed method.
言語 en
内容記述タイプ Abstract
内容記述
内容記述 10th IFAC Symposium on Robot Control International Federation of Automatic Control September 5-7, 2012. Dubrovnik, Croatia
言語 en
内容記述タイプ Other
出版者
言語 en
出版者 International Federation of Automatic Control (IFAC)
言語
言語 eng
資源タイプ
資源 http://purl.org/coar/resource_type/c_5794
タイプ conference paper
出版タイプ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
DOI
関連タイプ isVersionOf
識別子タイプ DOI
関連識別子 https://doi.org/10.3182/20120905-3-HR-2030.00107
ISBN
関連タイプ isPartOf
識別子タイプ ISBN
関連識別子 978-3-902823-11-3
ISSN
収録物識別子タイプ PISSN
収録物識別子 1474-6670
書誌情報 en : 10th IFAC Symposium on Robot Control

p. 834-841, 発行日 2012-09
著者版フラグ
値 publisher
URI
識別子 http://dx.doi.org/10.3182/20120905-3-HR-2030.00107
識別子タイプ DOI
URI
識別子 http://hdl.handle.net/2237/20770
識別子タイプ HDL
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