Download e-book for kindle: A Robot Ping-Pong Player: Experiments in Real-Time by Russell L. Andersson

By Russell L. Andersson

ISBN-10: 0262011018

ISBN-13: 9780262011013

This journey de strength in experimental robotics paves the way in which towards realizing dynamic environments in imaginative and prescient and robotics. It describes the 1st robotic in a position to play, or even beat, human ping-pong avid gamers. developing a computing device to play ping-pong used to be proposed years in the past as a very tricky challenge requiring quick, exact sensing and actuation, and the intelligence to play the sport. The learn said right here begun as a sequence of experiments in development a real real-time imaginative and prescient procedure. The ping-pong laptop comprises sensor and processing options in addition to the strategies had to intelligently plan the robot's reaction within the fraction of a moment to be had. it prospers on a relentless flow of recent info. Subjectively comparing and enhancing its movement plan because the facts arrives, it presages destiny robotic platforms with many joints and sensors that needs to do an identical, it doesn't matter what the duty. Contents: creation. robotic Ping-Pong. method layout. Real-Time imaginative and prescient procedure robotic Controller. professional Controller Preliminaries. specialist Controller. robotic Ping-Pong program. end. Russell L. Andersson is Member of Technical employees, Robotics structures learn division, AT&T Bell Laboratories. A robotic Ping-Pong participant is integrated within the man made Intelligence sequence, edited through Patrick Winston and Michael Brady.

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The sp2000 program is a protocol driver that allows a Kodak SP-2000 [10] motion analysis system to be driven under computer control to visually record and replay the system's performance, usually at 500 frames per second (though the SP-2000 can go higher). 5. 2. The sp2000 and sai programs will not be discussed in this work. 2 Processors and Network We use Motorola 68020 and 68000-based processors fcllowing the Sun (Stanford University) memory management architecture. Only chief and sp2000 run on a 68000 (both on the same one).

Since our knowledge of the collision dynamics is determined by Ndt, let us parameterize the collision with a fraction {3 to describe what portion of Ndt has been inflicted. We need not consider any particular time within the collision, as that would require knowledge of the shape of N, only the fraction of the impulse which has been delivered. tvr-k){3v;z(l+d (I6) and similarly for the spin: w«(3} = w; + ir (vry,-vrx, 0) {3v;z (I+E) (17) From Equations 6, 16, and 17, we can find the velocity of the ball's surface relative to the table as a function of {3.

We will have to correct for the lighting-dependent intensity distribution on the surface of the ball. We must be able to separate the ball from the background image, which consists of the playing frame and the opponent. The table, background, and opponent are specified to be relatively dark (recall Figure 1) . The stringent timing requirement eliminates structural analyses of the image at once. The image differencing technique can not be applied for several reasons. First, the background image of the opponent changes constantly.

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A Robot Ping-Pong Player: Experiments in Real-Time Intelligent Control by Russell L. Andersson

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