1-ms sensory-motor fusion system

Abstract

To achieve robotic manipulation tasks in the real world in which there are dynamic changes in an environment, we have developed a high-speed sensory-motor fusion system consisting of a multiprocessor system, a massively parallel active vision, and a multifingered hand-arm. This 1-ms sensory-motor fusion system has the following three features: 1) 1-ms high-speed visual and force feedback to deal with changes in the real world environment; 2) heterogeneous sensor fusion to process a multiple environments; and 3) hierarchical parallel processing architecture to perform multiple tasks. These features allow dynamic motion in the real-world environment.