High-speed sensory-motor fusion based on dynamics matching

This paper discusses a design concept of a sensory-motor fusion system to achieve high performance in a dynamic changing environment. From the viewpoint of a dynamic system, the new concept called "dynamics matching" is proposed to match the dynamics constraints of a system. Based on this concept, we describe a high-speed vision chip that has a general purpose parallel processing array along with a photodetector all in a single silicon chip. Next we describe a new sensory-motor fusion system which consists of a hierarchical parallel processing system, a vision chip system, and a multifingered hand-arm. All sensory feedback, including visual feedback, can be achieved in 1 ms. In addition, as an application of the system, we demonstrate high-speed grasping using visual and force feedback.