高速センサフィードバックに基づく把握行動

Abstract

In this paper grasping of a dynamically moving object is achieved using high-speed visual and force feedback. First a hierarchical processing model based on high-speed sensory feedback to realize manipulation in a changing environment is proposed. In this model high-speed sensory feedback is used at hierarchical three stages: (1) servo control, (2) motion planning, and (3) switching of motion planners. Because the motion planners are switched according to an external environment at a high rate, responsiveness and flexibility to dynamic changes of the environment is achieved. Next based on the proposed model a manipulation algorithm using high-speed visual and force feedback is proposed, in which a grasping task, an object handling task, and a collision avoidance task are executed. At last experimental results are shown based on a sensory-motor fusion system with a dextrous hand-arm and a high-speed active vision.