Card Manipulation using a High-speed Robot System with High-speed Visual Feedback
Card Manipulation using a High-speed Robot System with High-speed Visual Feedback
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使用具有高速视觉反馈的高速机器人系统进行卡片操作
DOI：
10.1109/iros.2012.6385569
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发表时间：
2012
期刊：
影响因子：
--
通讯作者：
Akio Namiki and Masatoshi Ishikawa
中科院分区：
文献类型：
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作者：
Yuji Yamakawa;Akio Namiki and Masatoshi Ishikawa
在这项研究中，我们成功地展示了灵巧的操作片状弹性物体，即扑克牌，使用高速机器人系统。特别是，我们的目标是通过振动的指尖的机器人手在高速和卡捕捉通过使用基于高速视觉系统的高速视觉反馈来实现卡弹。根据纸牌的几何条件和机器人手的运动学，讨论了初始状态下的纸牌抓取问题，并提出了一种弹牌策略。我们还提出了一种基于高速视觉系统获得的信息的纸牌捕捉方法。此外，我们通过分析卡片与机器人手指尖之间的滑动，得到了卡片的弹动条件。最后，我们展示了卡片轻弹和卡片捕捉的实验结果。
In this research, we successfully demonstrated dexterous manipulation of sheet-like elastic objects, namely, playing cards, using a high-speed robot system. In particular, our goal was to achieve card flicking by vibrating a fingertip of a robot hand at high speed and card catching by using high-speed visual feedback based on a high-speed vision system. We discuss card grasping in the initial state based on the geometry conditions of the card and the kinematics of the robot hand, and we propose a strategy for card flicking. We also suggest a card catching method based on information obtained by the high-speed vision system. In addition, we obtain the card flicking conditions by analyzing the slip between the card and the fingertip of the robot hand. Finally, we show experimental results of card flicking and card catching.