Human-robot cooperative task realization using high-speed robot hand system

摘要

We demonstrated a high-speed human-robot cooperation task using a high-speed robot system consisting of a high-speed vision system and a high-speed robot hand. In particular, our goal was to achieve a concrete task in which a board grasped by both a human subject and a robot hand is always kept horizontal by controlling the robot hand based on high-speed visual feedback using the vision system. We propose a basic strategy for appropriately achieving the task and discuss an image processing procedure for detecting the state of the board (position and angle). Also, we describe the inverse kinematics of the robot hand so as to keep the board horizontal, and we set limitations for the robot hand joint angles for avoiding a singular posture and an error action due to human error. In addition, we explain robot hand control of reference joint angles. Finally, we show experimental results for the human-robot cooperation task achieved using the high-speed robot system and our proposed method.