Visual shock absorber based on plastic deformation control

Abstract

In this paper, we consider the task of catching a high-speed object with a robot, and design a system stopping the object from colliding with the robot using high-speed vision. To stop the object and absorb the impact, the system has a structure that exhibits plastic deformation. We propose a control based on the Maxwell model so that the system is plastically deformed when an external force is applied. We simulated this system, constructed an experimental system using high-speed vision, and showed the efficiency of this model.