Page 186 - Human Inspired Dexterity in Robotic Manipulation

184 Human Inspired Dexterity in Robotic Manipulation

delay of visual information. First, a control scheme for visual servoing for
object manipulation was proposed to avoid unstable behavior caused by
two types of time delays. In this scheme, the virtual-object frame is comple-
mentarily utilized as a set of nominal control variables during the visual
image acquisition interval. Next, the effectiveness of the proposed method
was verified through numerical simulations. Finally, its practical usefulness
was demonstrated through experiments.
In our future work, the stability of the overall system will be extensively
analyzed. In addition to a detailed stability analysis, the necessary conditions
to achieve robustness against time delays should be investigated in more
detail.

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