High-speed, Non-deformation Catching with High-speed Vision and Proximity Feedback
We demonstrated the high-speed, non-deformation catching of a marshmallow. The marshmallow is a very soft object which is difficult to grasp without deforming its surface. For the catching, we developed a 1ms sensor fusion system with the high-speed active vision sensor and the high-speed, high-precision proximity sensor.
Generally, a tactile feedback is used to grasp various kinds of soft objects without deforming. However, the robot hand tends to deform the object surface with only tactile feedback. By slowing the grasping speed, the deformation becomes smaller. However, grasping time becomes longer.
The 1ms sensor fusion system enabled seamless, high-sensitive sensing from non-contact to contact state. The robot hand could control fingertip position dynamically and precisely based on the visual and the proximity feedback. By the proximity feedback, contact to the object was detected before deforming its surface, and grasping motion is stopped. The robot hand could catch the marshmallow even if the position and posture of it were different.
http://ishikawa-vision.org/fusion/vis...
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