Batting an in-flight object to the target Article Swipe
Yan-Bin Jia
,
Matthew Gardner
,
Xiaoqian Mu
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1177/0278364918817116
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1177/0278364918817116
Striking a flying object such as a ball to some target location is a highly skillful maneuver that a human being has to learn through a great deal of practice. In robotic manipulation, precision batting remains one of the most challenging tasks in which computer vision, modeling, planning, control, and action must be tightly coordinated in a split second. This paper investigates the problem of a two-degree-of-freedom robotic arm intercepting an object in free flight and redirecting it to some target with a single strike, assuming all the movements take place in one vertical plane. Two-dimensional impact is solved under Coulomb friction and energy-based restitution with a proof of termination. Planning combines impact dynamics and projectile flight mechanics with manipulator kinematics and image-based motion estimation. As the object is on the incoming flight, the post-impact task constraint of reaching the target is propagated backward in time, while the arm’s kinematic constraints are propagated forward (via joint trajectory interpolation), all to the pre-impact instant when they will meet constraints that allow batting to happen. All the constraints (16 in total) are then exerted on the arm’s pre-impact joint angles and velocities, which are repeatedly planned based on updated estimates of the object’s motion captured by a high-speed camera. The arm keeps adjusting its motion in sync with planning until batting takes place. Experiments have demonstrated a better batting performance by a Barrett Technology WAM Arm than by a human being without training.
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Concepts
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1177/0278364918817116
- https://journals.sagepub.com/doi/pdf/10.1177/0278364918817116
- OA Status
- bronze
- Cited By
- 34
- References
- 78
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2906695929
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W2906695929Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.1177/0278364918817116Digital Object Identifier
- Title
-
Batting an in-flight object to the targetWork title
- Type
-
articleOpenAlex work type
- Language
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enPrimary language
- Publication year
-
2019Year of publication
- Publication date
-
2019-01-01Full publication date if available
- Authors
-
Yan-Bin Jia, Matthew Gardner, Xiaoqian MuList of authors in order
- Landing page
-
https://doi.org/10.1177/0278364918817116Publisher landing page
- PDF URL
-
https://journals.sagepub.com/doi/pdf/10.1177/0278364918817116Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
bronzeOpen access status per OpenAlex
- OA URL
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https://journals.sagepub.com/doi/pdf/10.1177/0278364918817116Direct OA link when available
- Concepts
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Kinematics, Robotic arm, Computer science, Computer vision, Trajectory, Artificial intelligence, Simulation, Object (grammar), Control theory (sociology), Engineering, Control (management), Physics, Astronomy, Classical mechanicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
34Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 3, 2024: 4, 2023: 10, 2022: 7, 2021: 5Per-year citation counts (last 5 years)
- References (count)
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78Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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