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

Yoshiro Imai, Akio Namiki, Koichi Hashimoto, Masatoshi Ishikawa

Research output: Contribution to journalConference article

31 Citations (Scopus)

Abstract

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.

Original languageEnglish
Pages (from-to)1849-1854
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2004
Issue number2
Publication statusPublished - 2004 Jul 5
Externally publishedYes
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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