Dynamic manipulation of a thin circular flexible object using a high-speed multifingered hand and high-speed vision

Dynamic manipulation of flexible objects is needed for factory automation and in the food industry. In this paper, as one example of dynamic manipulation, we focus on a thin, circular, flexible object, and we propose an entirely new strategy for rotating and holding such an object. We confirmed the feasibility of this manipulation with the proposed method through simulations. We implemented the proposed strategy using a high-speed multifingered hand system with high-speed visual feedback, and we show experimental results of the dynamic manipulation of pizza dough.