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High speed grasping using visual and force feedback

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4 Author(s)
A. Namiki ; Dept. of Math. Eng. & Inf. Phys., Tokyo Univ., Japan ; Y. Nakabo ; I. Ishii ; M. Ishikawa

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 multi-fingered 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 1 ms. By using an algorithm with parallel sensory feedback in this system, grasping with high responsiveness and adaptivity to dynamic changes in the environment is realized

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

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