Title :
Realtime collision avoidance using a robot manipulator with light-weight small high-speed vision systems
Author :
Morikawa, Sho ; Senoo, Taku ; Namiki, Akio ; Ishikawa, Masatoshi
Author_Institution :
Dept. of Inf. Phys. & Comput., Tokyo Univ.
Abstract :
This paper describes a new realtime collision avoidance algorithm for a robot manipulator based on a new visual servo control. In the proposed algorithm, it is not necessary to compute the 3D position of the obstacle. Further, the manipulator can avoid the fast moving obstacle. The developed system uses several small light-weight high-speed vision chips placed on the surface of the robot manipulator. Experimental results of avoiding high-speed motion are shown.
Keywords :
collision avoidance; manipulators; motion control; robot vision; stereo image processing; visual servoing; collision avoidance; fast moving obstacle; high-speed motion; obstacle 3D position; robot manipulator; vision systems; visual servo control; Cameras; Collision avoidance; Humans; Machine vision; Manipulators; Robot sensing systems; Robot vision systems; Robotics and automation; Service robots; Visual servoing;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363083