TY - GEN
T1 - Ready posture for rapid reaction of badminton robot arm
AU - Nishikawa, Satoshi
AU - Iida, Fumiya
AU - Kuniyoshi, Yasuo
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - For immediate motion, taking a ready posture is a promising way because it can reduce enormous possible patterns of movement. For the selection of an appropriate ready posture, it is essential to know the structure of the task that includes the physical characteristics of a robot. We investigated our previous-built badminton robot arm to decide an appropriate ready posture as a case study. We first examined the kinematic characteristics to extract possible ready postures. In this analysis, we found that postures for hitting shuttles are limited to approximately one-tenth of all possible postures. Besides, these postures could be spatially divided into two clusters, one is for forehand shots, and the other is for backhand shots. Then, we calculated reaching time from various postures and confirmed that possible ready postures by kinematics analysis shortened averaged reaching time. We also found that there are more effective ready postures if considering the dynamics of the robot. These ready postures did not resemble those calculated by kinematics analysis.
AB - For immediate motion, taking a ready posture is a promising way because it can reduce enormous possible patterns of movement. For the selection of an appropriate ready posture, it is essential to know the structure of the task that includes the physical characteristics of a robot. We investigated our previous-built badminton robot arm to decide an appropriate ready posture as a case study. We first examined the kinematic characteristics to extract possible ready postures. In this analysis, we found that postures for hitting shuttles are limited to approximately one-tenth of all possible postures. Besides, these postures could be spatially divided into two clusters, one is for forehand shots, and the other is for backhand shots. Then, we calculated reaching time from various postures and confirmed that possible ready postures by kinematics analysis shortened averaged reaching time. We also found that there are more effective ready postures if considering the dynamics of the robot. These ready postures did not resemble those calculated by kinematics analysis.
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U2 - 10.1109/ROBIO49542.2019.8961788
DO - 10.1109/ROBIO49542.2019.8961788
M3 - Conference contribution
AN - SCOPUS:85079065152
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 570
EP - 575
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -