High Speed Grasping Using Visual and Force Feedback
نویسندگان
چکیده
In most conventional manipulation systems, changes in the environment cannot be observed in real time because the vision sensor is too slow. As a result the system is powerless under dynamic changes or sudden accidents. To solve this problem we have developed a grasping system using high-speed visual and force feedback. This is a multingered hand-arm with a hierarchical parallel processing system and a high-speed vision system called SPE-256. The most important feature of the system is the ability to process sensory feedback at high speed, that is, in about 1ms. By using an algorithm with parallel sensory feedback in this system, grasping with high responsiveness and adaptiveness to dynamic changes in the environment is realized.
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