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Dynamic Grasping Using High-speed Visual Feedback


In most conventional manipulation systems, changes in the environment cannot be observed in real time because the vision sensor is too slow. As a result the system is powerless under dynamics changes or sudden accidents. To solve this problem we have developed a high-speed manipulation system using high-speed visual feedback. This is a hand-arm with a hierarchical parallel processing system and visual feedback rate is set as 1ms. Using this system, we have achieved many manipulation such as grasping, collision avoidance, and so on.



  1. Akio Namiki and Masatoshi Ishikawa : Robotic Catching Using a Direct Mapping from Visual Information to Motor Command, Proc. IEEE Int. Conf. on Robotics and Automation (Taipei, 2003.9.17)/Proceedings, 2003,pp.2400-2405 (2003) [ PDF format ]
  2. Akio Namiki and Masatoshi Ishikawa : Vision-Based Online Trajectory Generation and Its Application to Catching, Control Problems in Robotics (A.Bicchi, H.I.Christensen, and D. Prattichizzo Eds.), pp.249-264, Springer (2002) [ PDF format ]
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