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A ball-throwing robot with visual feedback

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5 Author(s)
Jwu-Sheng Hu ; Dept. of Electr. & Control Eng., Nat. Chiao-Tung Univ., Hsinchu, Taiwan ; Ming-Chih Chien ; Yung-Jung Chang ; Shyh-Haur Su
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This work presents a robot system for throwing a ball into a basket. A stereo vision system is used to measure the position of the target in 3D space. The ball-throwing transformation between the input command of the robot system and the target position is built by cubic polynomial. Through ball-throwing transformation with visual feedback for target position, the robot throws the ball toward the target which can randomly move to everywhere in visible field. The percentage of successful ball-throwing for target within three meters was found to be approximately 99%.

Published in:

Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on

Date of Conference:

18-22 Oct. 2010