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JRM Vol.27 No.5 pp. 543-551
doi: 10.20965/jrm.2015.p0543
(2015)

Paper:

Motion Generation for a Sword-Fighting Robot Based on Quick Detection of Opposite Player’s Initial Motions

Akio Namiki and Fumiyasu Takahashi

Graduate School of Engineering, Chiba University
1-33 Yayoi-cho, Inage-ku, Chiba-shi, Chiba 263-8522, Japan

Received:
April 8, 2015
Accepted:
August 20, 2015
Published:
October 20, 2015
Keywords:
entertainment robot, high-speed vision, human-robot interaction, ChangeFinder
Abstract
Defensive motion against attack

In this paper, we discuss how to generate defensive motions for a sword-fighting robot based on quick detection of the opposite player’s initial motions. Our sword-fighting robot system, which has a stereo high-speed vision system, recognizes both the position of a human player and that of the sword grasped by the robot’s hand. Further, it detects the moment when the human player initiates a move using ChangeFinder, which is a method of detecting change points. Next, using least squares method, it predicts the possible trajectories of the sword of the human player from the moment when the attack starts. Finally, it judges the type of the attack and generates an appropriate defensive motion. The effectiveness of the proposed algorithm is verified by experimental results.

Cite this article as:
A. Namiki and F. Takahashi, “Motion Generation for a Sword-Fighting Robot Based on Quick Detection of Opposite Player’s Initial Motions,” J. Robot. Mechatron., Vol.27, No.5, pp. 543-551, 2015.
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