主催: (社)計測自動制御学会システムインテグレーション部門
p. 325
In this paper, a visual feedback control algorithm for robotic catching is proposed. The proposed algorithm is based on a nonlinear mapping of visual information to the desired trajectory. This method is applied to a catching task, and a reactive and flexible motion is obtained owing to real-time high-speed visual information. Experimental results on catching a moving object using a high-speed vision chip system are presented.