High Speed Dexterous Manipulation with High Speed Vision
High Speed Dexterous Manipulation with High Speed Vision
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DOI：
10.3182/20090909-4-jp-2010.00068
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
A. Namiki;Ryoya Sugano;Satoru Mizusawa;Y. Yamakawa;M. Ishikawa
中科院分区：
文献类型：
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作者：
A. Namiki;Ryoya Sugano;Satoru Mizusawa;Y. Yamakawa;M. Ishikawa
视觉是灵巧操作的重要传感器之一。一般视觉系统的采样率为30Hz。然而，对操作系统的实时控制是不够的。为了解决这一问题，开发了一种采样率超过1kHz的高速视觉系统。本文给出了基于高速视觉系统的灵巧操作实例。首先，提出了一种多指手操纵刀具的方法，通过视觉反馈实时补偿手、刀具和目标之间的标定误差。其次，提出了一种多指手操纵柔性绳索的方法，通过视觉实时观察绳索形状的变化。最后，提出了利用指尖旋转机构进行动态再抓取的方法。给出了实验结果。
Abstract Vision is one of most important sensors for dexterous manipulation. The sampling rate of usual vision system is 30Hz. However, it is not enough to control manipulation system in realtime. In order to solve this problem, a high-speed vision system has been developed in which the sampling rate is more than 1kHz. In this paper, some examples of dexterous manipulation based on the high-speed visual systems are proposed. First, tool manipulation by multifingered hand is proposed, in which the calibration errors among the hand, the tool, and the target are compensated for in realtime by visual feedback. Next, flexible rope manipulation by a multifingered hand is proposed, in which the change of shape of the rope is observed by vision in realtime. Finally, dynamic regrasping using fingertip rotation mechanism is proposed. Experimental results are shown.