Cooperative Operation between a Human and a Robot based on Real-time Measurement of Location and Posture of Target Object by High-speed Vision

摘要

The objective of this research is to realize a cooperative task in which a robot follows a human user's moves for various degrees of freedom using a high-speed hand and a high-speed camera. We constructed a system that makes the robot follow the direction in which the human wants to move a board while keeping it horizontal by holding it at one end with the human and at the other end with the robot hand, by controlling the robot hand based on high-speed visual feedback. We propose an image processing algorithm for estimating the object state (position and angles) and the inverse kinematics of the robot hand to control the hand based on the object state. We show experimental results for the task using the proposed strategy, image processing, and robot hand control. The experiment confirmed that this task was successfully completed using the proposed method.