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The robot that can capture a moving object in a blink

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3 Author(s)
Kaneko, M. ; Graduate Sch. of Eng., Hiroshima Univ., Higashi-Hiroshima, Japan ; Tsuji, T. ; Ishikawa, M.

This paper discusses the design of a capturing system with an extremely high response. The key for achieving a quick response is the arm/gripper coupling mechanism, where the potential energy initially accumulated in the arm is transferred to the kinetic energy of the arm and, continuously, to the kinetic energy for closing the gripper at the capturing point without any time lag. The experimental results show the maximum acceleration of 91G corresponding to almost two times higher than the conventional world record, and the total capturing time of 0.03 sec. Experiments on capturing a ball are also shown.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

Date of Conference:

2002