Dynamic Nonprehensile Manipulation of a Moving Object Using a Batting Primitive
Source abstract
Abstract
To achieve human-level object manipulation capability, a robot must be able to handle objects not only with prehensile manipulation, such as pick-and-place, but also with nonprehensile manipulation. To study nonprehensile manipulation, we studied robotic batting, a primitive form of nonprehensile manipulation. Batting is a challenging research area because it requires sophisticated and fast manipulation of moving objects and requires considerable improvement. In this paper, we designed a batting system for dynamic manipulation of a moving ball and proposed several algorithms to improve the task performance of batting. To improve the recognition accuracy of the ball, we proposed a circle-fitting method that complements color segmentation. This method enabled robust ball recognition against illumination. To accurately estimate the trajectory of the recognized ball, weighted least-squares regression considering the accuracy according to the distance of a stereo vision sensor was used for trajectory estimation, which enabled more accurate and faster trajectory estimation of the ball. Further, we analyzed the factors influencing the success rate of ball direction control and applied a constant posture control method to improve the success rate. Through the proposed methods, the ball direction control performance is improved.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robot Manipulation and Learning · Advanced Vision and Imaging · Robotic Mechanisms and Dynamics
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Humanoid Robotics LAB, Department of Robot & Smart System Engineering, Kyungpook National University, Daegu 41566, Korea
Robotics & Intelligent Systems LAB, Department of Electrical Engineering, School of Electronic and Electrical Engineering, Department of Robot and Smart System Engineering, Kyungpook National University, Daegu 41566, Korea
HUBO LAB, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon 34141, Korea
Funding
National Research Foundation of Korea
References (29)
Show source-provided references
1. Dynamic nonprehensile manipulation: Controllability, planning, and experiments10.1177/027836499901800105 ↗
2. Nonprehensile manipulation of deformable objects: Achievements and perspectives from the robotic dynamic manipulation project10.1109/MRA.2017.2781306 ↗
3. Nonprehensile dynamic manipulation: A survey10.1109/LRA.2018.2801939 ↗
4. Satici, A.C., Ruggiero, F., Lippiello, V., and Siciliano, B. (2016, January 16–21). A Coordinate-Free Framework for Robotic Pizza Tossing and Catching. Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden.10.1109/ICRA.2016.7487582 ↗
5. Bätz, G., Yaqub, A., Wu, H., Kühnlenz, K., Wollherr, D., and Buss, M. (2010, January 23–25). Dynamic Manipulation: Nonprehensile Ball Catching. Proceedings of the 18th Mediterranean Conference on Control and Automation, MED’10, Marrakech, Morocco.10.1109/MED.2010.5547695 ↗
6. Serra, D., Satici, A.C., Ruggiero, F., Lippiello, V., and Siciliano, B. (2016, January 29–31). An Optimal Trajectory Planner for a Robotic Batting Task: The Table Tennis Example. Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics, Lisbon, Portugal.10.5220/0005982000900101 ↗
7. Pushing a disk using compliance10.1109/TRO.2007.898967 ↗
8. Dynamic manipulation inspired by the handling of a pizza peel10.1109/TRO.2009.2017085 ↗
9. Passivity-based control for a rolling-balancing system: The nonprehensile disk-on-disk10.1109/TCST.2016.2637719 ↗
10. Woodruff, J.Z., and Lynch, K.M. (June, January 29). Planning and Control for Dynamic, Nonprehensile, and Hybrid Manipulation Tasks. Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore.10.1109/ICRA.2017.7989467 ↗
11. A robust vision module for humanoid robotic ping-pong game10.5772/60406 ↗
12. Nakabo, Y., Ishikawa, M., Toyoda, H., and Mizuno, S. (2000, January 24–28). 1 ms Column Parallel Vision System and Its Application of High Speed Target Tracking. Proceedings of the ICRA, Millennium Conference, IEEE International Conference on Robotics and Automation, Symposia Proceedings, San Francisco, CA, USA.10.1109/ROBOT.2000.844126 ↗
13. Hsiao, T., Yang, C.M., Lee, I.H., and Hsiao, C.C. (2014, January 18–22). Design and implementation of a ball-batting robot with optimal batting decision making ability. Proceedings of the 2014 IEEE International Conference on Automation Science and Engineering (CASE), New Taipei, Taiwan.10.1109/CoASE.2014.6899452 ↗
14. Serra, D., Ruggiero, F., Satici, A.C., Lippiello, V., and Siciliano, B. (2018). Time-optimal paths for a robotic batting task. Informatics in Control, Automation and Robotics, Springer.10.1007/978-3-319-55011-4_13 ↗
15. Gardner, M., Jia, Y.B., and Lin, H. (2016, January 9–14). Batting Flying Objects to the Target in 2D. Proceedings of the 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea.10.1109/IROS.2016.7759498 ↗
16. Batting an in-flight object to the target10.1177/0278364918817116 ↗
17. Schüthe, D., and Frese, U. (October, January 28). Optimal Control with State and Command Limits for a Simulated Ball Batting Task. Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany.10.1109/IROS.2015.7353939 ↗
18. Dynamically consistent online adaptation of fast motions for robotic manipulators10.1109/TRO.2017.2765666 ↗
19. Kober, J., Mülling, K., Krömer, O., Lampert, C.H., Schölkopf, B., and Peters, J. (2010, January 3–7). Movement Templates for Learning of Hitting and Batting. Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, USA.10.1109/ROBOT.2010.5509672 ↗
20. High-speed and lightweight humanoid robot arm for a skillful badminton robot10.1109/LRA.2018.2803207 ↗
21. Senoo, T., Namiki, A., and Ishikawa, M. (May, January 26). High-Speed Batting Using a Multi-Jointed Manipulator. Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, USA.
22. Senoo, T., Namiki, A., and Ishikawa, M. (2006, January 15–19). Ball Control in High-Speed Batting Motion Using Hybrid Trajectory Generator. Proceedings of the 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, USA.
23. Mechanical design of the humanoid robot platform, HUBO10.1163/156855307781503781 ↗
24. Plataniotis, K.N., and Venetsanopoulos, A.N. (2013). Color Image Processing and Applications, Springer Science & Business Media.
25. Bradski, G., and Kaehler, A. (2008). Learning OpenCV: Computer Vision with the OpenCV Library, O’Reilly Media, Inc.
26. Gonzalez, R.C., and Woods, R.E. (1992). Digital Image Processing, Addison-Wesley Publishing Company.
27. Strutz, T. (2010). Data Fitting and Uncertainty. A Practical Introduction to Weighted Least Squares and Beyond, Vieweg + Teubner.
28. Lawson, C.L., and Hanson, R.J. (1995). Solving Least Squares Problems, Society for Industrial and Applied Mathematics.10.1137/1.9781611971217 ↗
29. (2018, January 19). Nonprehensile Dynamic Manipulation: High Speed Ball Batting Using Visual Feedback. Available online: https://www.youtube.com/watch?v=BPGVibfnOXg.