1A1-D06 高速ビジョンを用いたチャンバラロボットの開発(アミューズメント・エンタテイナーロボット)

• 高橋 史泰

  千葉大

• 並木 明夫

  千葉大

書誌事項

タイトル別名

• 1A1-D06 Development of a Sword-Fighting robot by High-Speed Vision(Robots for Amusement and Entertainment)

抄録

In this paper, we propose a sword-fighting robot system controlled by a stereo high-speed vision system as an example of human-robot dynamic interaction systems. The robot recognizes motions of an opponent human player quickly by using CAMshift. CAMshift is an tracking algorithm based on the pattern of the color histogram of a target, and it is robust against disturbance of image noise. The vision system recognize the positions of both the hand of a human player and the sword grasped by the hand. We suppose the sword is controlled by a 6DOF virtual arm and predict its state by using Extended Kalman Filter. The robot achieve defensive motions based on this prediction.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2014 (0), _1A1-D06_1-_1A1-D06_4, 2014

  一般社団法人 日本機械学会

キーワード

• Amusement robot
• High-speed vision
• Human-robot interaction

詳細情報

• CRID: 1390282680913503360
• NII論文ID: 110009966607
• DOI: 10.1299/jsmermd.2014._1a1-d06_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2014/0/2014__1A1-D06_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可