抄録
This paper proposes a robot which can play air hockey game with a human. The robot consists of a 4-axis robot arm and a high-speed vision, and the robot is controlled based on visual information at a rate of 500[Hz]. The robot system has the abilities to adjust the strength level and to change the strategy based on the game situation. A system designer can easily adjust these abilities by setting several specified parameters. In this paper, first, a recursive trajectory generation using continuous images from high-speed vision is explained. Secondly, the response control to adjust the strength level of the robot is explained. Thirdly, the decision-making using AHP (Analytic Hierarchy Process) is proposed. This ability enable the robot to switch the game plan. Finally, we show the data of experiments and verify the effectiveness of the system.
