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.
