Using a 3DOF Parallel Robot and a Spherical Bat to hit a Ping-Pong Ball

Playing the game of Ping-Pong is a challenge to human abilities since it requires developing skills, such as fast reaction capabilities, precision of movement and high speed mental responses. These processes include the utilization of seven DOF of the human arm, and translational movements through the legs, torso, and other extremities of the body, which are used for developing different game strategies or simply imposing movements that affect the ball such as spinning movements. Computationally, Ping-Pong requires a huge quantity of joints and visual information to be processed and analysed, something which really represents a challenge for a robot. In addition, in order for a robot to develop the task mechanically, it requires a large and dexterous workspace, and good dynamic capacities. Although there are commercial robots that are able to play Ping-Pong, the game is still an open task, where there are problems to be solved and simplified. All robotic Ping-Pong players cited in the bibliography used at least four DOF to hit the ball. In this paper, a spherical bat mounted on a 3-DOF parallel robot is proposed. The spherical bat is used to drive the trajectory of a Ping-Pong ball.Fil: Trasloheros, Alberto. Universidad Aeronáutica de Querétaro; MéxicoFil: Sebastián, José María. Universidad Politécnica de Madrid; España. Consejo Superior de Investigaciones Científicas; EspañaFil: Torrijos, Jesús. Consejo Superior de Investigaciones Científicas; España. Universidad Politécnica de Madrid; EspañaFil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; ArgentinaFil: Roberti, Flavio. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan. Instituto de Automática. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentin

How soccer players head the ball: a test of optic acceleration cancellation theory with virtual reality

We measured the movements of soccer players heading a football in a fully immersive virtual reality environment. In mid-flight the ball’s trajectory was altered from its normal quasi-parabolic path to a linear one, producing a jump in the rate of change of the angle of elevation of gaze (α) from player to ball. One reaction time later the players adjusted their speed so that the rate of change of α increased when it had been reduced and reduced it when it had been increased. Since the result of the player’s movement was to regain a value of the rate of change close to that before the disturbance, the data suggest that the players have an expectation of, and memory for, the pattern that the rate of change of α will follow during the flight. The results support the general claim that players intercepting balls use servo control strategies and are consistent with the particular claim of Optic Acceleration Cancellation theory that the servo strategy is to allow α to increase at a steadily decreasing rate

Robotic Ball Catching with an Eye-in-Hand Single-Camera System

In this paper, a unified control framework is proposed to realize a robotic ball catching task with only a moving single-camera (eye-in-hand) system able to catch flying, rolling, and bouncing balls in the same formalism. The thrown ball is visually tracked through a circle detection algorithm. Once the ball is recognized, the camera is forced to follow a baseline in the space so as to acquire an initial dataset of visual measurements. A first estimate of the catching point is initially provided through a linear algorithm. Then, additional visual measurements are acquired to constantly refine the current estimate by exploiting a nonlinear optimization algorithm and a more accurate ballistic model. A classic partitioned visual servoing approach is employed to control the translational and rotational components of the camera differently. Experimental results performed on an industrial robotic system prove the effectiveness of the presented solution. A motion-capture system is employed to validate the proposed estimation process via ground truth

Catching what we can't see: manual interception of occluded fly-ball trajectories

Control of interceptive actions may involve fine interplay between feedback-based and predictive mechanisms. These processes rely heavily on target motion information available when the target is visible. However, short-term visual memory signals as well as implicit knowledge about the environment may also contribute to elaborate a predictive representation of the target trajectory, especially when visual feedback is partially unavailable because other objects occlude the visual target. To determine how different processes and information sources are integrated in the control of the interceptive action, we manipulated a computer-generated visual environment representing a baseball game. Twenty-four subjects intercepted fly-ball trajectories by moving a mouse cursor and by indicating the interception with a button press. In two separate sessions, fly-ball trajectories were either fully visible or occluded for 750, 1000 or 1250 ms before ball landing. Natural ball motion was perturbed during the descending trajectory with effects of either weightlessness (0 g) or increased gravity (2 g) at times such that, for occluded trajectories, 500 ms of perturbed motion were visible before ball disappearance. To examine the contribution of previous visual experience with the perturbed trajectories to the interception of invisible targets, the order of visible and occluded sessions was permuted among subjects. Under these experimental conditions, we showed that, with fully visible targets, subjects combined servo-control and predictive strategies. Instead, when intercepting occluded targets, subjects relied mostly on predictive mechanisms based, however, on different type of information depending on previous visual experience. In fact, subjects without prior experience of the perturbed trajectories showed interceptive errors consistent with predictive estimates of the ball trajectory based on a-priori knowledge of gravity. Conversely, the interceptive responses of subjects previously exposed to fully visible trajectories were compatible with the fact that implicit knowledge of the perturbed motion was also taken into account for the extrapolation of occluded trajectories