Super-Low-Latency Telemanipulation Using High-Speed Vision and High-Speed Multifingered Robot Hand

摘要

We developed a super-low-latency telemanipulation system using a high-speed vision system and a high-speed robot hand with a high-speed tactile sensor. This system does not require users to wear sensors. Also, since it has latency lower than the sampling rate of visual recognition by humans, the latency is not recognizable by humans. Low-latency telemanipulation systems are needed to perform tasks that require high speed, such as catching falling objects or fast-moving objects. We evaluated the latency of our telemanipulation system and successfully demonstrated catching of falling objects using our system, in contrast to a conventional vision system operating at 30 fps, which failed the task.