Design and implementation of a three-dimensional simulation system for a humanoid table tennis robot

This paper designs and implements a simulation system that can verify the planning algorithms such as table tennis trajectory planning and robot leg movement planning. The simulation system and the humanoid robot’s control system are connected based on the RTnet real-time Ethernet protocol. The tabl...

Full description

Bibliographic Details
Main Author: Lu Zhou
Format: Article
Language:English
Published: SAGE Publishing 2020-05-01
Series:Measurement + Control
Online Access:https://doi.org/10.1177/0020294019898742
Description
Summary:This paper designs and implements a simulation system that can verify the planning algorithms such as table tennis trajectory planning and robot leg movement planning. The simulation system and the humanoid robot’s control system are connected based on the RTnet real-time Ethernet protocol. The table tennis game of the humanoid robot is implemented using the simulation of the forward and inverse kinematics of the robot arm, the hitting planning, and the forward and inverse kinematics of the robot leg.
ISSN:0020-2940