Abstract
Robotics is a science that is implemented parallel to human behavior. This work describes and implements techniques to mathematically model the game of ping pong played by the humans, and utilization of these methods in the design and development of a ping pong playing robotic arm as an application of robotic vision. Displaced frame difference (DFD) is used to segment the ball motion from background motion and parametric calibration of single CCD camera is utilized to track the ball in three dimensions. This visual information is temporally updated and further applied to guide a robot arm to hit the ball at a specified location in time. The results signify the system development based on single camera tracking and also demonstrate its working with self-sufficiency for the color of the ball. System latency is measured as a function of the camera interface, processor architecture, and robot motion. Various hardware and software parameters that influence the real time system performance are also discussed.
Library of Congress Subject Headings
Human-computer interaction; Robotics; Computer vision; Table tennis
Publication Date
5-2005
Document Type
Thesis
Student Type
Graduate
Degree Name
Electrical Engineering (MS)
Department, Program, or Center
Electrical Engineering (KGCOE)
Advisor
Ferat Sahin
Advisor/Committee Member
Eli Saber
Advisor/Committee Member
Wayne Walter
Recommended Citation
Modi, Kalpesh Prakash, "Vision application of human robot interaction: Development of a ping pong playing robotic arm" (2005). Thesis. Rochester Institute of Technology. Accessed from
https://repository.rit.edu/theses/8106
Campus
RIT – Main Campus
Comments
Physical copy available from RIT's Wallace Library at QA76.9.H85 M63 2005