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We have proposed a GAG (Gaining Angle of Gaze) strategy for ball catching. The strategy allows single camera configuration and it is robust against camera motion errors. It is superior than previously proposed strategies in the field of experimental psychology in the catchable region and robustness. In this paper, we apply the GAG strategy for tracking and catching a 3D flying target. The GAG strategy is extended for hand-eye robot manipulators and ball catching performance is evaluated by simulations and experiments.
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on (Volume:5 )
Date of Conference: April 26 2004-May 1 2004