Hand eye coordination in rope handling.

概要

論文の詳細を見る
Visual information is necessary for a robot to manipulate flexible objects like ropes. Direct visual feedback and verification in three dimensional space are the keys to perform successful manipulation of flexible objects.<BR>In this paper the important points of hand eye coordination are discussed and a rope handling experiment is described. Automatic calibration, visual verification at grasping operation, and visual feedback for guiding a object are described. The hand eye system consists of robot vision system, a general purpose manipulator, and Lisp system. Main visual functions are local image processing along a linear region and stereo vision. The experiment involves task performance such as rope-into-ring and tying a rope. Coordinating general purpose arm with stereo vision, our robot succeeds in manipulating a flexible rope.
一般社団法人日本ロボット学会の論文