Fuzzy Basketball Throwing Strength Control System for Vision-Based Humanoid Robot

Abstract

A fuzzy basketball throwing strength control system for vision-based humanoid robot is proposed in this paper. The implemented method is able to adjust the speed of throwing ball for joining the basketball event in HuroCup (Humanoid Robot World Cup Soccer Tournament). The proposed method speeds up the aiming time and increases the shooting accuracy. A two inputs and one output fuzzy system are designed in this paper. Two inputs, the distance and the voltage, are used for the implemented method. The robot detects the distance between the robot and basket based on the robot's vision system. An analog to digital system is applied to measure the robot's voltage, which changes the torque of the motor. The output value of the fuzzy system is the motor speed of the shoulder. The proposed fuzzy system is able to decide the motor speed of the shoulder to throw the table tennis ball, which is substituted for the basketball. The effectiveness of the system is demonstrated in an empirical evaluation. © Springer-Verlag Berlin Heidelberg 2013.