1A1-F30 高速ハンドアームと高速ビジョンを用いたボールのダイナミックマニピュレーション  [in Japanese] 1A1-F30 Dynamic manipulation of ball with High-speed Hand-Arm and High-speed vision  [in Japanese]

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Abstract

As for human, skillful manipulation is achieved by using the dynamics of the target effectively. Also as for robot manipulation, juggling is an example of skillful manipulation, its efficiency is improved by using unstable condition of the manipulated object. There are many previous researches about juggling. However, there are few researches, in which a multi fingered hand-arm like a human is used. In this paper, at first, a ball position is extracted by high-speed image-processing. Next the ball trajectory is predicted by RLS (Recursive least squares) approximation. At last, the experimental result is shown in which a ball is thrown by the hand-arm and its trajectory recognized by the high-speed vision.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2010(0), _1A1-F30_1-_1A1-F30_4, 2010

    The Japan Society of Mechanical Engineers

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