Transferring model-free objects between human hand and robot hand using vision/force control

摘要

This paper will present a new proposed system which combines vision and force control in order to transfer model-free objects between human hand and robot hand. The proposed system will improve robot's facilities to interact with human, especially during handing-over tasks. The contributions of this work are: 1. The robot system will be able to detect all kinds of objects which are carried out by human hand without any a priori information about the model of the objects. 2. The robot system will track the object visually and grasp it with the help of force control. 3. In the proposed system, vision and force sensors are integrated in order to guarantee the safety issues, to guarantee the fulfillment of the grasping task and to react to the motion of human hand during the interaction phase. The proposed system is supported by experimental results which illustrate the capability of the proposed algorithms in different cases with different objects.