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Dynamic Pen Spinning Using a High-speed Multifingered Hand with High-speed Tactile Sensor

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4 Author(s)
Ishihara, T. ; Dept. of Inf. Phys. & Comput., Tokyo Univ. ; Namiki, A. ; Ishikawa, M. ; Shimojo, M.

We propose a tactile feedback system in real time using a high-speed multifingered robot hand and high-speed tactile sensor. The system is respectively capable of high-speed finger motion up to 180deg per 0.1s and high-speed tactile feedback with a sampling rate higher than 1kHz. In this paper, we describe dynamic pen spinning as an example of a skillful manipulation task using a high-speed multifingered hand equipped with tactile sensors. The paper describes the tactile feedback control strategies and experimental results

Published in:

Humanoid Robots, 2006 6th IEEE-RAS International Conference on

Date of Conference:

4-6 Dec. 2006