ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1A1-D06
会議情報
1A1-D06 高速ビジョンを用いたチャンバラロボットの開発(アミューズメント・エンタテイナーロボット)
高橋 史泰並木 明夫
著者情報
会議録・要旨集 フリー

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抄録
In this paper, we propose a sword-fighting robot system controlled by a stereo high-speed vision system as an example of human-robot dynamic interaction systems. The robot recognizes motions of an opponent human player quickly by using CAMshift. CAMshift is an tracking algorithm based on the pattern of the color histogram of a target, and it is robust against disturbance of image noise. The vision system recognize the positions of both the hand of a human player and the sword grasped by the hand. We suppose the sword is controlled by a 6DOF virtual arm and predict its state by using Extended Kalman Filter. The robot achieve defensive motions based on this prediction.
著者関連情報
© 2014 一般社団法人 日本機械学会
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