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A Robot Ping-Pong Player: Experiments in Real-Time by Russell L. Andersson PDF

By Russell L. Andersson

ISBN-10: 0262011018

ISBN-13: 9780262011013

This travel de strength in experimental robotics paves the way in which towards realizing dynamic environments in imaginative and prescient and robotics. It describes the 1st robotic capable of play, or even beat, human ping-pong avid gamers. developing a computing device to play ping-pong was once proposed years in the past as a very tricky challenge requiring quick, actual sensing and actuation, and the intelligence to play the sport. The examine suggested the following all started as a chain of experiments in construction a real real-time imaginative and prescient approach. The ping-pong computing device contains sensor and processing options in addition to the suggestions had to intelligently plan the robot's reaction within the fraction of a moment to be had. it flourishes on a continuing movement of recent information. Subjectively comparing and bettering its movement plan because the facts arrives, it presages destiny robotic structures with many joints and sensors that needs to do an identical, it doesn't matter what the duty. Contents: advent. robotic Ping-Pong. approach layout. Real-Time imaginative and prescient process robotic Controller. professional Controller Preliminaries. professional Controller. robotic Ping-Pong program. end. Russell L. Andersson is Member of Technical employees, Robotics structures examine division, AT&T Bell Laboratories. A robotic Ping-Pong participant is integrated within the man made Intelligence sequence, edited by means of Patrick Winston and Michael Brady.

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Extra resources for A Robot Ping-Pong Player: Experiments in Real-Time Intelligent Control

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Hw = Fxr The radius vector is the radius of the ball along the table normal force vector F is the same frictional force, so we compute: (I3) k and the (14) A bit of algebra resembling the final velocity calculation ( Equation 12) produces: Robot Ping-Pong WI .. Wi + �� (Vry,-Vrxo O)v;z(l+d 21 (Is) Equation 15 may be seen to leave the Z component of W unchanged (the zero in Equation 15 corresponds to the Z component of that vector) . We have neglected the possibility of frictional torques acting along the table normal, which would change Wz• This simplification is empirically justified.

Our demon implementation treats the log as a FIFO (first in, first out) buffer, storing the logged data until the main program encounters an idle period; it does not use any cycles during critical periods. The demon interface acts independently of the log's transfer to disk. The main program may prespecify the time period available to the demons; the demon driver attempts not to exceed that time. Any data that is not processed during a particular segment will be processed next time. This approach reduces the latency between event and learning to the frequency of the demons being run, on the order of once a second in our application.

The processing is often a convolution operator to smooth the data or find edges. Special-purpose pipelined hardware processes the video stream [26]. Such algorithms are not directly useful for robotics applications, as they do not reduce the amount of information which needs to be processed, although they may simplify subsequent feature extraction operations. Reducing the amount of data to be processed without eliminating essential image content is fundamental to processing images in real time.

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A Robot Ping-Pong Player: Experiments in Real-Time Intelligent Control by Russell L. Andersson


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