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

抄録

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.