Real-Time Hand and Eye Coordination for Flexible Impedance Control of Robot Manipulator

In recent years a lot of versatile robots have been developed to work in environments with human. However they are not sufficiently flexible nor safe in terms of interaction with human. In our approach we focused on hand and eye coordination in order to establish a flexible robot control, in which a robot recognizes its environment from the input camera images and equips a soft contacting strategy by impedance control. To recognize the environment, we adopt a method to reconstruct motion from a sequence of monocular images by using a pair of parallel straight line segments, which enables us to obtain linear equations to solve the problem. On the other hand the impedance control strategy conveys a flexible interaction between robots and humans. The strategy can be considered as a passive force control, when something contacts the end-effector of the robot. In order to avoid a collision, we introduce a virtual impedance control which can generate force prior to the contact. Neural networks (hereafter: NN) learning is used to decide parameters for impedance control, in which NNs can obtain parameters during the motion (aka: online learning). The validity of the proposed method was verified through experiments with a multijoint robot manipulator.