Dynamic Human-Robot Interaction -Realizations of collaborative motion and peg-in-hole-
We developed a dynamic human-robot interactive system consisting of a high-speed vision and a high-speed robot hand. The high-speed vision can measure the position and the orientation of the board to be manipulated by a human and a robot. Then the high-speed robot hand can react based on the board information. This system can correspond to a randomly human motion at high-speed and low-latency. Also, this system can compensate the pitch angle, and follow the yaw and roll angles by the human motion. In addition, we successfully achieved a collaborative peg-in-hole. In this task, the diameters of the peg and the hole are 6.350 mm and 6.325 mm, respectively. Therefore, we can perform the high-accuracy peg-in-hole by using the developed human-robot interactive system.
http://ishikawa-vision.org/fusion/Hum...