Title :
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
fDate :
April 26-May 1, 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308093
