Development of a Sword-Fighting Robot Controlled by High-Speed Vision
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 developed robot system recognizes both of the positions of a human player and that of the sword grasped by the robot hand. And it detects the moment when the human starts to move by using ChangeFinder which is a method of detecting the turning points. Next it predicts the possible trajectories of the sword of the human player by a
least-squares method from the moment when the attack started. Finally it judges the kinds of the attack and generates an appropriate defensive motion. Experimental results verify the effectiveness of the proposed algorithm.