Implementation of dynamic manipulation with visual feedback and its application to pick and place task

摘要

In a class of manipulation task, an object must be manipulated without grasping it. In such case, human can handle the object skilfully by rolling over, sliding, and/or tossing it up on his/her hand. The ability is referred to as dynamic manipulation skill. For lack of this kind of skill, the function of conventional robot is very limited and consequently its application field is limited. To overcome the situation, we try to realize such skills for a robot. We implemented a set of manipulation skills for a pick-and-place like operation without grasping an object. It is a dynamic manipulation on a palm. To make dynamic manipulation stable and reliable, it is necessary not to let the manipulation error to be accumulated. We introduce a visual feedback to avoid the accumulation of error and realize stable and reliable dynamic manipulation.