Title :
Visual shock absorber based on maxwell model for anti-rebound control
Author :
Taku Senoo;Masanori Koike;Kenichi Murakami;Masatoshi Ishikawa
Author_Institution :
Dept. of Information Physics ans Computing, Graduate School of Information Science and Technology, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan
fDate :
9/1/2015 12:00:00 AM
Abstract :
A visually guided shock absorber for high-speed catching without rebound is designed and realized. This visual shock absorber is based on the Maxwell model, which uses plastic deformation to suppress rebounding. The shock absorber is constructed from a spring-based passive elastic body and a servo control-based software damper connected in series. The visual shock absorber is realized in a robot with two degrees of freedom and high-speed vision. The robot receives the impact of a rolling object without repelling it.
Keywords :
"Springs","Mathematical model","Shock absorbers","Force","Deformable models","Robots","Trajectory"
Conference_Titel :
Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on
DOI :
10.1109/IROS.2015.7353587
