[斯坦福大学网络视频课程之机器人学].IntroductionToRobotics-Lecture07.pdfVIP

IntroductionToRobotics-Lecture07 Instructor (Oussama Khatib):Okay. Let’s get started. So for this segment – come on. Interesting. This is really an interesting development. In ’99, a robot playing volleyball, and this was developed by a company, Toshiba, which is remarkable, so. Video Speaker: Robots in games and competition. Each ball volley playing robot. Japan. Instructor (Oussama Khatib):I love the people. Video Speaker: Future robots are going to work in your houses and hospitals with humans. Toshiba has developed a beach ball volley playing robot as demonstration of such a human friendly robot technology. We consider that it is essential to interact with robots using everyday words such as, let’s play volleyball. For the everyday word commands to work, the robot needs to measure the target’s relative position with respect to the robot position to know the mechanics and procedures of the tasks, and to have a good database for the environment and the target. With an integrated sensor feedback technology, we have demonstrated a robot, which can play beach ball volley with an opponent, pick up a ball from the floor and shake hands with a human by only one respective every day word command. The robot uses two head mounted CCD cameras to measure the target ball position in every one sixtieth seconds. The cameras always track the ball. The operator commands the robot to pick up the red ball. Then the robot starts to search for the red ball on the floor. After finding the ball, it moves above the red ball. Then it checks the arrangement of all the balls to make a plan to pick up the ball. When the robot finds that arrangement is too difficult to pick up the red ball, it pushes the green ball aside and checks the ball arrangement again. Then it picks up the red ball. We use vision servo control at the rate of one sixtieth seconds to achieve this picking up motion. This is the robot view. After pushing aside the green ball, the robot checks the