Ultra high-speed Robot Based on 1 kHz vision system

Author

Ishikawa, Masatoshi ; Namiki, Akio ; Senoo, Taku ; Yamakawa, Yuji

Author_Institution

Dept. of Creative Inf., Univ. of Tokyo, Tokyo, Japan

fYear

2012

fDate

7-12 Oct. 2012

Firstpage

5460

Lastpage

5461

Abstract

This video introduces an ultra high-speed robot as a milestone in the history of intelligent manipulation systems. To develop the ultra high-speed robot under the concept of dynamics matching, we began with the development of a 1 kHz vision system. Next, we developed a sensory-motor fusion system by introducing the 1 kHz vision system. In addition, we have developed a new high-torque mini actuator and a high-speed multi-fingered hand with these incorporated. Integration of these components brings real-time dexterous manipulations unlike commonly-used control based on prediction or learning.

Keywords

dexterous manipulators; learning systems; manipulator dynamics; predictive control; real-time systems; robot vision; dynamics matching; high-speed multifingered hand; high-torque miniactuator; intelligent manipulation systems; learning control; prediction control; real-time dexterous manipulations; sensory-motor fusion system; ultra high-speed robot; vision system; Actuators; Automation; Dynamics; Intelligent robots; Machine vision; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on

Conference_Location

Vilamoura

ISSN

2153-0858

Print_ISBN

978-1-4673-1737-5

Type

conf

DOI

10.1109/IROS.2012.6386295

Filename

6386295