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JRM Vol.34 No.5 pp. 956-964
doi: 10.20965/jrm.2022.p0956
(2022)

Paper:

Development of Air Hockey Robot with High-Speed Vision and High-Speed Wrist

Koichiro Tadokoro, Shotaro Fukuda, and Akio Namiki

Chiba University
1-33 Yayoi-cho, Inage-ku, Chiba 263-8522, Japan

Received:
March 31, 2022
Accepted:
July 6, 2022
Published:
October 20, 2022
Keywords:
air hockey robot, high-speed vision, human-robot interaction
Abstract
Development of Air Hockey Robot with High-Speed Vision and High-Speed Wrist

Overview of robot arm

Our research group has developed an air hockey robot with high-speed vision capable of visual recognition at 500 Hz, which exceeds that of humans. Although this robot uses high-speed vision to increase its reaction speed and improve its performance, it has a low speed to compete with humans because its hand speed is still not sufficiently fast. In this study, a high-speed wrist rotation mechanism using a direct drive motor was introduced to the air hockey robot to improve the hitting speed through the snapping motion of the wrist. Furthermore, we developed a hitting motion algorithm that utilizes high-speed visual feedback. The effectiveness of the proposed system was verified experimentally. The proposed system exhibits an improved motion performance.

Cite this article as:
K. Tadokoro, S. Fukuda, and A. Namiki, “Development of Air Hockey Robot with High-Speed Vision and High-Speed Wrist,” J. Robot. Mechatron., Vol.34, No.5, pp. 956-964, 2022.
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