Date: Tue, 14 Jan 1997 21:51:59 GMT Server: Apache/1.2-dev Connection: close Content-Type: text/html Last-Modified: Sat, 10 Jun 1995 20:00:17 GMT ETag: "5f9bb-4cd-2fd9f9d1" Content-Length: 1229 Accept-Ranges: bytes Experiments in Robotic Catching

Experiments in Robotic Catching


Reference

Experiments in Robotic Catching, B.M. Hove and J.J.E. Slotine, Proceedings of the 1991 American Control Conference, Vol. 1, Boston, MA, pp. 380-385, June 1991.


Abstract

Real-time coordination of visual information with high speed manipulator control is studied in the specific context of three-dimensional robotic catching. All path-planning for the catch occurs in real-time during the half-second that the targeted object is airborne. We use a trajectory-matching algorithm that combines an observer with a varying-strength filter, an error estimator, and an initial motion algorithm. The results are demonstrated experimentally using a real-time vision system and a four-degree-of-freedom, cable-driven arm with a workspace of 4.2 cubic meters and speed capabilities of up to 2.0 m/s.


Maintainer: jesse@ai.mit.edu, Comments to: wam@ai.mit.edu
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