Visual servo system for ball dribbling by using bipedal robot «nao»

Kazuya Tamura, Takahiro Nozaki, Atsuo Kawamura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper discusses visual servo system for ball dribbling by using bipedal robot «Nao». Countless papers have been written by researchers since the establishment of RoboCup in 1993, which contributes to the progress in robotics and artificial intelligent. However, only few papers discuss dribbling even though ball dribbling is one of major techniques to master to win a game. To achieve ball dribbling, rigid visual servo is needed in order to kick the ball continuously. Because of the noise caused by the oscillation of walking, it is difficult to make a visual servo system that can achieve ball dribbling. In this paper, visual servo system which is able to control both stepping control and walking pattern is proposed. The proposed visual servo system can offer more rigid visual servo with stability than the one that commonly used by applying foot step planner, walking pattern generator and image processing.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3461-3466
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2015 Jan 1
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Publication series

NameIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

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  • Cite this

    Tamura, K., Nozaki, T., & Kawamura, A. (2015). Visual servo system for ball dribbling by using bipedal robot «nao». In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 3461-3466). [7392636] (IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392636