Vision-Based Online Trajectory Generation and Its Application to Catching

  • Akio Namiki
  • Masatoshi Ishikawa
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 4)


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.


Visual Information Joint Angle Joint Torque Trajectory Generation Target Trajectory 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Akio Namiki
    • 1
  • Masatoshi Ishikawa
    • 1
  1. 1.University of TokyoTokyoJapan

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