Robotic catching using a direct mapping from visual information to motor command

— 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.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Akio Namiki, Masatoshi Ishikawa
• Keywords: ICRA 2003, Nonlinear Mapping, Robotic Catching Algorithm, Robotics, Visual Information