Realization of ball catching task using a mobile robot

摘要

This paper presents an implementation of ball catching task using a mobile robot. We have proposed a trajectory control method for catching a ball flying in three-dimensional space. The method is basically a visual servo and it implements the motion strategy proposed in the field of experimental psychology. Besides, we have proposed a new motion strategy named. GAG (Gaining Angle of Gaze) that is more powerful and concentrated on a robot. A mobile robot platform is designed and some experiments are carried out for demonstrating that the robot can catch a ball flying in three-dimensional space. Due to our novel motion strategy the system uses only a monocular vision system.