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Dynamic Human-Robot Interactive System

Summary

In this research, we developed a dynamic human-robot interactive system which can adapt to a human operation at high speed and low delay, using a high-speed robot hand system consisting of a high-speed vision system and a high-speed robot hand. Then, the human operator and the robot hand grasped the same object, enabled cooperative motion according to the human operations (Figure (a)), and realized a highly accurate peg-in-hole while keeping collaborative motion (Figure (b)).

As the proposed concrete method, by tracking the markers attached on the same object by the high-speed vision system, we recognized the three-dimensional position and orientation of the board to be manipulated by the human operator every 1 millisecond. Based on the visual recognition result, the cooperative motion according to the human motion was realized. Here, it is a feature of this result that utilizing the high-speed performance of the robot system realizes it only by kinematics calculation without performing complex dynamics calculation.


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Ishikawa Senoo Laboratory, Department of Information Physics and Computing, Department of Creative Informatics,
Graduate School of Information Science and Technology, University of Tokyo
Ishikawa Senoo Laboratory WWW admin: www-admin@k2.t.u-tokyo.ac.jp
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