Opponent Hitting Behavior Prediction and Ball Location Control for a Table Tennis Robot
Abstract
:1. Introduction
2. The Table Tennis Robot System
3. The Vision Module
3.1. Trajectory Prediction of Balls
3.2. Stroke Type Classification and Rotation Type Prediction
4. Humanoid Robotic Arm Control
4.1. Joint Position Calculation
Algorithm 1: Solving parameters of |
Solving Solving Solving Solving or
Solving Solving Solving |
4.2. Joint Velocity Calculation and Trajectory Planning
5. Ball Location Control
Algorithm 2: Solutions of the nonlinear equations |
Step 1: Let Equation (14) be , Equation (15) be , and Equation (16) be . Let , , if , and if . Let the jacobian matrix be
Step 2: Solving elements of : , , , , , , , , Step 3: Let . Step 4: Calculate . Step 5: If , return , and otherwise, set and go to Step 4. |
6. Experiment
7. Conclusions
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
References
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Number | Key Point | Number | Key Point |
---|---|---|---|
0 | Nose | 9 | Left wrist |
1 | Left eye | 10 | Right wrist |
2 | Right eye | 11 | Left waist |
3 | Left ear | 12 | Right waist |
4 | Right ear | 13 | Left knee |
5 | Left shoulder | 14 | Right knee |
6 | Right shoulder | 15 | Left ankle |
7 | Left elbow | 16 | Right ankle |
8 | Right elbow |
Type | Stroke | Rotation |
---|---|---|
1 | Forehand attacking | Topspin, left sidespin |
2 | Backhand attacking | Topspin, right sidespin |
3 | Forehand rubbing | Backspin, left sidespin |
4 | Backhand rubbing | Backspin, right sidespin |
Stroke Type | Accuracy |
---|---|
Forehand attack | 95.52% |
Backhand attack | 94.8 % |
Forehand rub | 93.17% |
Backhand rub | 93.41% |
Rounds | Hitting Success Rate | Within the Inner Target Area | Within the Outler Target Area | Mean Placement of the Ball |
---|---|---|---|---|
20,648 | 98.35% | 82.52% | 95.16% | (−875.13, 178.27) |
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Ji, Y.; Mao, Y.; Suo, F.; Hu, X.; Hou, Y.; Yuan, Y. Opponent Hitting Behavior Prediction and Ball Location Control for a Table Tennis Robot. Biomimetics 2023, 8, 229. https://doi.org/10.3390/biomimetics8020229
Ji Y, Mao Y, Suo F, Hu X, Hou Y, Yuan Y. Opponent Hitting Behavior Prediction and Ball Location Control for a Table Tennis Robot. Biomimetics. 2023; 8(2):229. https://doi.org/10.3390/biomimetics8020229
Chicago/Turabian StyleJi, Yunfeng, Yue Mao, Fangfei Suo, Xiaoyi Hu, Yunfeng Hou, and Ye Yuan. 2023. "Opponent Hitting Behavior Prediction and Ball Location Control for a Table Tennis Robot" Biomimetics 8, no. 2: 229. https://doi.org/10.3390/biomimetics8020229