Dynamic active catching using a high-speed multifingered hand and a high-speed vision system
- 1 January 2004
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2 (10504729) , 1849-1854 Vol.2
- https://doi.org/10.1109/robot.2004.1308093
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.Keywords
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