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Visual Impedance for Robot Control

Summary

The visual impedance is a new scheme for vision based control which realizes task-level dynamical robot control using a 1ms visual feedback system. This method is simply described as applying image features to the impedance equation so that integration of a visual servo and a conventional servo system can be naturally accomplished. With visual impedance, an adaptive motion is obtained for real robot tasks in dynamically changing or unknown environments based on the framework of impedance control.

object-avoiding system virtual surface
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In such cases, very high rate visual feedback is necessary to control robot dynamics but most conventional vision systems using CCD cameras can never satisfy this condition because their sampling rate is limited by the video signal. To solve this problem, we developed a general-purposed vision chip SPE and the 1ms visual feedback system which can achieve an adequate servo rate to control dynamics.

Reference

  1. Yoshihiro Nakabo and Masatoshi Ishikawa: Visual Impedance Using 1ms Visual Feedback System, IEEE Int. Conf. Robotics and Automation (Leuven,1998.5.16)/Proc. IEEE Int. Conf. Robotics and Automation,
Ishikawa Senoo Laboratory, Department of Information Physics and Computing, Department of Creative Informatics,
Graduate School of Information Science and Technology, University of Tokyo
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