Robotic catching using a direct mapping from visual information to motor command
نویسندگان
چکیده
In this paper a robotic catching algorithm based on a nonlinear mapping of visual information to the desired trajectory is proposed. The nonlinear mapping is optimized by learning based on constraints of dynamics and kinematics. As a result 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 system and a manipulation are presented.
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تاریخ انتشار 2003