TY - GEN
T1 - Visual servo system for ball dribbling by using bipedal robot «nao»
AU - Tamura, Kazuya
AU - Nozaki, Takahiro
AU - Kawamura, Atsuo
PY - 2015/1/1
Y1 - 2015/1/1
N2 - This paper discusses visual servo system for ball dribbling by using bipedal robot «Nao». Countless papers have been written by researchers since the establishment of RoboCup in 1993, which contributes to the progress in robotics and artificial intelligent. However, only few papers discuss dribbling even though ball dribbling is one of major techniques to master to win a game. To achieve ball dribbling, rigid visual servo is needed in order to kick the ball continuously. Because of the noise caused by the oscillation of walking, it is difficult to make a visual servo system that can achieve ball dribbling. In this paper, visual servo system which is able to control both stepping control and walking pattern is proposed. The proposed visual servo system can offer more rigid visual servo with stability than the one that commonly used by applying foot step planner, walking pattern generator and image processing.
AB - This paper discusses visual servo system for ball dribbling by using bipedal robot «Nao». Countless papers have been written by researchers since the establishment of RoboCup in 1993, which contributes to the progress in robotics and artificial intelligent. However, only few papers discuss dribbling even though ball dribbling is one of major techniques to master to win a game. To achieve ball dribbling, rigid visual servo is needed in order to kick the ball continuously. Because of the noise caused by the oscillation of walking, it is difficult to make a visual servo system that can achieve ball dribbling. In this paper, visual servo system which is able to control both stepping control and walking pattern is proposed. The proposed visual servo system can offer more rigid visual servo with stability than the one that commonly used by applying foot step planner, walking pattern generator and image processing.
UR - http://www.scopus.com/inward/record.url?scp=84973158891&partnerID=8YFLogxK
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U2 - 10.1109/IECON.2015.7392636
DO - 10.1109/IECON.2015.7392636
M3 - Conference contribution
AN - SCOPUS:84973158891
T3 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
SP - 3461
EP - 3466
BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Y2 - 9 November 2015 through 12 November 2015
ER -