HomeResearch One-handed Knotting

Dynamic Regrasping Using a High-speed Multifingered Hand and a High-speed Vision System

Abstract

  • In most previous studies, it has been difficult for a robot hand to regrasp a target quickly because its motion was static or quasi-static with keeping contact state. In order to achieve high-speed regrasping, we propose a new strategy which we call dynamic regrasping. In this strategy, the regrasping task is achieved by throwing a target up and by catching it. In this paper, the regrasping strategy based on visual feedback and the experimental results using a high-speed multifingered robot hand and a high-speed vision system are shown. As an example of a target for dynamic regrasping, we selected a cylinder and we achieved the dynamic regrasping tasks in the experiment.

Movie

Publication

  1. Noriatsu Furukawa, Akio Namiki, Taku Senoo and Masatoshi Ishikawa. Dynamic Regrasping Using a High-speed Multifingered Hand and a High-speed Vision System. 2006 IEEE International Conference on Robotics and Automation. (Orlando, USA, 2006. 5.16) / Proceedings, pp.181-187. Best Manipulation Paper Award
Page Top
Copyright (C) Namiki Laboratory All Rights Reserved.