2P2-P03 逆再生動作を用いた高速キャッチングのための実時間軌道生成(感覚・運動・計測)

概要

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High-speed manipulation has great potential to produce new robotic skills utilizing the feature of high-speed motion. Based on the concept, we had achieved high-speed throwing motion using a hand-arm system as a example. In the research, we proposed a throwing strategy using the motion called "Kinematic chain" that we can observe in human throwing motion. On the other hand, There are many research about robotic catching. And there are strategies to minimize the difference in the velocity of ball and manipulator. We consider that we can achieve catching a faster ball by applying the throwing strategy. Because by using the strategy, we can move the arm at high speed. In this paper, we propose a catching strategy using the inverse motion of the throwing strategy. And we implemented the proposed strategy into the experimental system, and a high-speed manipulator caught a ball moving on plane.
2011-05-26