Dynamic Human-Robot Interaction -Realizations of collaborative motion and peg-in-hole-

We developed a dynamic human-robot interactive system consisting of a high-speed vision and a high-speed robot hand. The high-speed vision can measure the position and the orientation of the board to be manipulated by a human and a robot. Then the high-speed robot hand can react based on the board information. This system can correspond to a randomly human motion at high-speed and low-latency. Also, this system can compensate the pitch angle, and follow the yaw and roll angles by the human motion. In additi