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 the rate of 500Hz. 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, the response control to adjust the strength level of the robot is explained. Secondly, the decision-making method using AHP (Analytic Hierarchy Process) is proposed. This ability enables the robot to switch the game plan. Thirdly, the catching motion for the air hockey robot is explained. Finally, we show the data of experiments and verify the effectiveness of these functions.
