Title :
Robotic catching using a direct mapping from visual information to motor command
Author :
Namiki, Akio ; Ishikawa, Masatoshi
Author_Institution :
Dept. of Inf. Phys. & Comput., Tokyo Univ., Japan
Abstract :
In this paper a robotic catching algorithm based on a nonlinear mapping of visual information to the desired trajectory is proposed. The nonlinear mapping is optimized by learning based on constraints of dynamics and kinematics. As a result a reactive and flexible motion is obtained due to the real-time high-speed visual information. Experimental results on catching a moving object using a high-speed vision system and a manipulation are presented.
Keywords :
learning (artificial intelligence); manipulator dynamics; manipulator kinematics; path planning; position control; real-time systems; robot vision; dynamics constraints; flexible motion; high speed visual information; kinematics constraints; learning; manipulations; robotic catching algorithm; trajectory generation algorithm; visual information mapping; Constraint optimization; Humans; Kinematics; Machine vision; Manipulator dynamics; Motor drives; Nonlinear dynamical systems; Physics computing; Robots; Trajectory;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241952
