Dynamic sensing in a ping-pong playing robot

Abstract

The application of sensing technologies to an environment that changes at rates comparable to the sensing and actuation rates of a robot system is considered. In such dynamic environments, the temporal characteristics of the sensor must be taken into account. Additionally, the processing system must be able to integrate the stream of sensor data into its task plan, compensating for changed sensor data and continuously optimizing the plan. The author examines these issues in the context of a functioning robot system that plays ping-pong.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>