Automatic manipulation using a binocular sensory system

This paper describes an experimental automatic manipulator whose mechanical hand approaches a target and grasps it without scanning movements. The essential part of the machine is a binocular sensory system which is placed in front of the hand and "sees" both the hand and a target. The system consists of a pair of television pickup cameras and a video-signal classifier. It makes a discrimination between the hand and the target, and compares the position of the one with that of the other. Using the comparison results, a control unit controls the movements of the hand. Automatic target approach and grasping have been demonstrated clearly in some experiments where a 1.5 by 6 by 6 cm³wooden block is used as a target and placed in an arbitrary position on a 40 by 40 cm²table.