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

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4 Author(s)
Imai, Y. ; Dept. of Inf. Phys. & Comput., Tokyo Univ., Japan ; Namiki, A. ; Hashimoto, K. ; Ishikawa, M.

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.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:2 )

Date of Conference:

April 26-May 1, 2004

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