Towards an Anthropomorphic Robotical Hand-Eye Coordination

摘要

Human grasping still outshines its robotical counterparts with respect to accuracy, speed, robustness, and flexibility. When trying to develop a robotical hand-eye system, it is therefore only natural to examine the results of neuroscience. In this paper, we examine the human hand-eye system concerning motion planning and control using robotical categories and strategies. From the results, we derive a system concept for an anthropomorphic robotical hand-eye coordination. 1. INTRODUCTION Using sensor information to control robots has become a very popular field of research, since it promises to lead to the design of autonomous robots. In contrast to their preprogrammed industrial counterparts, autonomous robots must be able to deal with unexpected events such as obstacles or misplaced objects. This is especially important for personal robots because they operate in an environment that is not adapted to the needs of machines. Nowadays, vision is by far the most commonly used sensor beca...