Skillful Manipulation Based on High-speed Sensory-Motor Fusion
In recent years, many robotic manipulation systems have been developed. However such systems were designed with a primary goal of the emulation of human capabilities, and less attention to pursuing of the upper limit in terms of speed for mechanical systems.
To achieve such dynamic fast motion, we have developed a high-speed manipulation system. This system consists of a multi-fingered hand with tactile sensors, a wire-drive arm, and a stereo active vision system. The cycle time of sensor feedback and control processing is set at 1ms. Therefore the robot can react quickly to target motion in unpredictable conditions.
Moreover new strategies for high-speed manipulation are developed utilizing the feature of high-speed motion. Several tasks show that high-speed active control enables stable and robust manipulation. In addition such a high-speed control strategy can be applied to various complicated manipulation. This result indicates that high-speed manipulation improves robotic skills.
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