Reproduction of Siteswap Behavior in Juggling with Robotic Arm and RGB-D Camera
Kohei OGAWA, Kazuyuki Morioka · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2023
We focused on juggling as one of entertainment robots. Juggling has a numetical notations called siteswap. Using siteswap, it is possible to notate complex and diverse juggling patterns. The goal of this study is to develop complex and diverse juggling patterns with conbination of basic motions generated by siteswap. The developed jugling robot is constructed with a 7-axis robotic arm and an RGB-D camera. 7-axis robotic arm, CRANE-X7, was used for throwing and grabbing the ball. RGB-D camera, Intel RealSense D435i, was used to predict the position and trajectory of the ball.