Visual Shock Absorber with Anti-rebound Property Based on Maxwell Model

Summary

Visual shock absorber is proposed with the goal of achieving anti-rebound of a collision object for high-speed catching. Based on the idea that the trajectory of an end-effector which stops a ball without rebound is regarded as the robot’s plastic deformation, impact absorption is performed by adopting the Maxwell model which represents plastic deformation. We developed the visual shock absorber which consists of series connection between passive elastic structure and software damper with high-speed vision, whose architecture corresponds to the Maxwell model. Experimental results are shown in which a 2-DOF manipulator with high-speed vision recieves the impact of rolling object without rebound.

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Reference

1. Masanori Koike, Kenichi Murakami, Taku Senoo and Masatoshi Ishikawa: Visual Shock Absorber Based on Plastic Deformation Control, 2015 IEEE International Conference on Robotics and Biomimetics, (Zhuhai, China, 2015.12.7) / Proceedings, pp. 656-661.
2. Taku Senoo, Masanori Koike, Kenichi Murakami and Masatoshi Ishikawa: Visual Shock Absorber Based on Maxwell Model for Anti-Rebound Control, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, (Hamburg, Germany, 2015.9.29) / Proceedings, pp. 1640-1645.