• DocumentCode
    3709298
  • Title

    Visual shock absorber based on maxwell model for anti-rebound control

  • Author

    Taku Senoo;Masanori Koike;Kenichi Murakami;Masatoshi Ishikawa

  • Author_Institution
    Dept. of Information Physics ans Computing, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan
  • fYear
    2015
  • fDate
    9/1/2015 12:00:00 AM
  • Firstpage
    1640
  • Lastpage
    1645
  • Abstract
    A visually guided shock absorber for high-speed catching without rebound is designed and realized. This visual shock absorber is based on the Maxwell model, which uses plastic deformation to suppress rebounding. The shock absorber is constructed from a spring-based passive elastic body and a servo control-based software damper connected in series. The visual shock absorber is realized in a robot with two degrees of freedom and high-speed vision. The robot receives the impact of a rolling object without repelling it.
  • Keywords
    "Springs","Mathematical model","Shock absorbers","Force","Deformable models","Robots","Trajectory"
  • Publisher
    ieee
  • Conference_Titel
    Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
  • Type

    conf

  • DOI
    10.1109/IROS.2015.7353587
  • Filename
    7353587
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3709298