High-speed sensory motor fusion for robotic grasping

摘要

In this paper a new high-speed vision device and its application to a grasp system is proposed, and we discuss a processing architecture for grasping based on visual and tactile feedback designed with real-time control in mind. First, we describe a high-speed vision chip that serves as a robotic eye that includes a general-purpose parallel processing array along with a photo-detector all on a single silicon chip. Next, we present a grasping algorithm based on real-time visual and tactile feedback, and a high-speed sensory–motor fusion system for robotic grasping. We then describe a grasping experiment using high-speed vision, and finally, based on these results, the effectiveness of high-speed sensory–motor fusion for robotic grasping is discussed.