Ball catching in kendama game by estimating grasp conditions based on a high-speed vision system and tactile sensors

In recent years, various robot hands and arms have been developed for achieving dexterous manipulation tasks. However, there are few robots that are able not only to move quickly but also to handle tools dexterously. Motion in the Japanese game kendama is one example of dynamic manipulation and skillful handling. Although robotic kendma has been studied in the past, these robotic hands cannot be used effectively. The purpose of this study was to achieve kendama motion by estimating the object to be grasped based on a high-speed vision system and CoP tactile sensors. Our robot successfully performed the catching motion in kendama.