Tweezers type tool manipulation by a multifingered hand using a high-speed visusal servoing

In order to achieve as skillful handling as a human hand, it is necessary that a hand has the capability to manipulate tools. One important problem in tool handling with a multifingered hand is that the relative positions between the robot hand, the tool and the handled object change during the handling. For this reason, it is necessary to measure these relative positions in realtime, and to control the hand so as to cancel the changes. We have resolved this problem by using a high speed visual servoing. In this paper, as an example, a tweezers is handled by a multifingered hand. Further, a new method to control tools along with experiment result are shown.