Dynamic active catching using a high-speed multifingered hand and a high-speed vision system

Author

Imai, Yoshiro ; Namiki, Akio ; Hashimoto, Koichi ; Ishikawa, Masatoshi

Author_Institution

Dept. of Inf. Phys. & Comput., Tokyo Univ., Japan

Volume

2

fYear

2004

fDate

April 26-May 1, 2004

Firstpage

1849

Abstract

A new robotic hand system with high-speed finger motion of 180 [deg] per 0.1 [s] has been developed. With high-speed visual feedback at a rate of 1 [kHz], various dynamic manipulations are achieved. As examples of dynamic manipulation we describe the dynamic active catching tasks for a falling ball and a falling cylinder using a high-speed multifingered hand. We achieved these difficult tasks by utilizing high-speed motion and impact forces actively. Experimental results using active catching strategy based on visual feedback are shown.

Keywords

active vision; dexterous manipulators; manipulator kinematics; motion control; optical feedback; robot vision; dynamic active catching tasks; dynamic manipulations; high speed finger motion; high speed multifingered hand; high speed vision system; high speed visual feedback; robotic hand system; Actuators; Computer vision; Control systems; Feedback; Fingers; Humans; Machine vision; Manipulator dynamics; Physics; Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1308093

Filename

1308093