Grasping Using High-Speed Sensory Feedback.

• Namiki Akio

  School of Infomatics, Univ. of Tokuo Japanese Science and Technology Corporation

• Ishii Idaku

  Faculty of Engineering, Tokyo Agriculture and Institute Univ.

• Ishikawa Masatoshi

  School of Infomatics, Univ. of Tokuo

Bibliographic Information

Other Title

• 高速センサフィードバックに基づく把握行動
• コウソク センサフィードバック ニ モトヅク ハアク コウドウ

Abstract

In this paper grasping of a dynamically moving object is achieved using high-speed visual and force feedback. First a hierarchical processing model based on high-speed sensory feedback to realize manipulation in a changing environment is proposed. In this model high-speed sensory feedback is used at hierarchical three stages: (1) servo control, (2) motion planning, and (3) switching of motion planners. Because the motion planners are switched according to an external environment at a high rate, responsiveness and flexibility to dynamic changes of the environment is achieved. Next based on the proposed model a manipulation algorithm using high-speed visual and force feedback is proposed, in which a grasping task, an object handling task, and a collision avoidance task are executed. At last experimental results are shown based on a sensory-motor fusion system with a dextrous hand-arm and a high-speed active vision.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 20 (7), 707-716, 2002

  The Robotics Society of Japan

Keywords

• Grasping
• High-Speed Visual and Force Feedback
• Sensory-Motor Fusion
• Hierarchical Processing model

Details

• CRID: 1390282679702900224
• NII Article ID: 10009988866
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.20.707
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 6332395
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I6332395
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed