Robotics: Modelling, Planning and Control
Robotics: Modelling, Planning and Control
Estimating 3D Positions and Velocities of Projectiles from Monocular Views
IEEE Transactions on Pattern Analysis and Machine Intelligence
Navigation control for tracking and catching a moving target
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
| Hi-index | 0.00 |
A new method to catch a thrown ball with a robot endowed with an eye-in-hand monocular visual system integrated into a gripper is proposed. As soon as the thrown ball is recognized by the visual system, the camera carried by the robot end-effector is forced to follow a baseline in the space so as to acquire an initial dataset of visual measurements from several points of view, providing a first estimate of the catching point through a linear estimation algorithm. Hereafter, additional measurements are acquired to constantly refine the previous estimate by exploiting a nonlinear estimation algorithm. During the robot trajectory, the translational components of the camera are controlled in such a way as to follow the planned path to intercept the ball, while the rotational components are forced to keep the ball into the field of view. Experimental results performed on a common industrial robotic system prove the effectiveness of the presented solution.