• DocumentCode
    2939723
  • Title

    The Analysis of High-speed Catching with a Multifingered Robot Hand

  • Author

    Namiki, Akio ; Ishikawa, Masatoshi

  • Author_Institution
    Department of Information Physics and Computing, University of Tokyo 7-3-1 Hongo, Bunkyo-ku 113-8656, Tokyo, Japan; namiki@k2.t.u-tokyo.ac.jp http://www.k2.t.u-tokyo.ac.jp
  • fYear
    2005
  • fDate
    18-22 April 2005
  • Firstpage
    2655
  • Lastpage
    2660
  • Abstract
    A new multifingered hand system with quick finger motion of 180deg per 0.1s has been developed. With high-speed visual feedback at a rate of 1kHz, high-speed catching of a falling ball are achieved. In this catching task, a target was dropped from about 1m in height, and the speed of the falling ball became more than about 4m/s just before it hit the ground. The hand could precisely catch it using two fingertips, and the percentage of the success was almost 100%. This successful catching depends on not only high-speed precise motion of the hand, but also softness of the target surface. In this paper, the dynamical analysis of the high-speed catching is proposed, and the softness of the target surface makes very important roles in this tasks. As a result it is shown that the balanced impedance of the target surface and the feedback control of the hand is needed in order to achieve stable catching.
  • Keywords
    catching; robot hand; visual feedback; Feedback control; Fingers; Humans; Information analysis; Manipulator dynamics; Motion analysis; Physics computing; Robots; Stability analysis; Surface impedance; catching; robot hand; visual feedback;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
  • Print_ISBN
    0-7803-8914-X
  • Type

    conf

  • DOI
    10.1109/ROBOT.2005.1570514
  • Filename
    1570514