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Tool Manipulation by a Multifingered Hand Using a High-speed Vision

Research

In order to achieve skillful handling, it is necessary that a multifingered hand has a capability to manipulate tools. One important problem of tool handling with a multifingered hand is that the relative positions among a robot hand, a tool and a handled object change during the handling. For this reason, it is necessary to measure the relative positions in realtime, and to control a hand so as to cancel the changes by passive joint arise from frictional force between hand and tools. In our research, we have resolved this problem by using a high speed visual servoing. As an example, a tweezers is handled by a multifingered hand.

Movies

  • Pick up of rice with tweezers. [2.7Mbyte]

Reference

  1. Satoru Mizusawa, Akio Namiki, Masatoshi Ishikawa: Tool Manipulation by a Multifingered Hand Using a High-speed Vision, Proceedings of the 8th SICE System Integration Division Annual Conference (SI2007)EEB1-4 , pp. 55/66. (2007)
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