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<TITLE>Experiments in Robotic Catching</TITLE>
<H1>Experiments in Robotic Catching</H1>

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<H2>Reference</H2>

<I>Experiments in Robotic Catching</I>, B.M. Hove and J.J.E. Slotine,
Proceedings of the 1991 American Control Conference, Vol. 1, Boston, MA,
pp. 380-385, June 1991.<P>

<HR>

<H2>Abstract</H2>

Real-time coordination of visual information with high speed
manipulator control is studied in the specific context of
three-dimensional robotic catching.  All path-planning for the catch
occurs in real-time during the half-second that the targeted object is
airborne.  We use a trajectory-matching algorithm that combines an
observer with a varying-strength filter, an error estimator, and an
initial motion algorithm.  The results are demonstrated experimentally
using a real-time vision system and a four-degree-of-freedom,
cable-driven arm with a workspace of 4.2 cubic meters and speed
capabilities of up to 2.0 m/s.
<P>

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