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Control Problems in Robotics pp 249–264Cite as

Vision-Based Online Trajectory Generation and Its Application to Catching

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 4))

Abstract

In this paper, a method for vision-based online trajectory generation is proposed. The proposed method is based on a nonlinear mapping of visual information to the desired trajectory, and this nonlinear mapping is defined by learning based on constraints of dynamics and kinematics. This method is applied to a catching task, and a reactive and flexible motion is obtained owing to real-time high-speed visual information. Experimental results on catching a moving object using a high-speed vision chip system are presented.

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Author information

Authors and Affiliations

  1. University of Tokyo, 7-3-1 Bunkyo-ku, Hongo, Tokyo, 113-8656, Japan

    Akio Namiki & Masatoshi Ishikawa

Authors
  1. Akio Namiki
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  2. Masatoshi Ishikawa
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Editor information

Editors and Affiliations

  1. Centro Interdipartimentale di Ricerca, “Enrico Piaggio”, Università di Pisa, Via Diotisalvi, 2, 56100, Pisa, Italy

    Antonio Bicchi

  2. Dipartimento di Ingegneria dell’Informazione Facoltà di Ingegnerici, Università di Siena, Via Roma, 56, 53100, Siena, Italy

    Domenico Prattichizzo

  3. Centre for Autonomous Systems CVAP/NADA, Kungliga Tekniska Högskolan, 10044, Stockholm, Sweden

    Henrik Iskov Christensen

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© 2003 Springer-Verlag Berlin Heidelberg

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Namiki, A., Ishikawa, M. (2003). Vision-Based Online Trajectory Generation and Its Application to Catching. In: Bicchi, A., Prattichizzo, D., Christensen, H.I. (eds) Control Problems in Robotics. Springer Tracts in Advanced Robotics, vol 4. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-36224-X_16

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  • DOI: https://doi.org/10.1007/3-540-36224-X_16

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-00251-2

  • Online ISBN: 978-3-540-36224-1

  • eBook Packages: Springer Book Archive

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