Home＞Research ＞Highspeed Multifingered Hand
Highspeed Multifingered Hand
-
Abstract
-
Dynamic grasping using a newly developed high-speed hand system and
high-speed vision is proposed. In the high-speed hand system, a newly
designed actuator provides the finger with excellent features:
It is lightweight (about 110g per finger),
and it is moved with speed reaching about 4m/s and 4N power at a finger tip, and
backlash is small enough for high-gain feedback control. As a
result high-speed motion at 180deg/0.1s is realized. With
high-speed visual feedback at a rate of 1KHz, the hand can grasp and
handle dynamically moving object. Experimental results are shown in
which a falling object is caught by high-speed hand.
( Dynamic Catching Page )
-
Movies
- Demo [2.2Mbyte]
Related Works
- High-speed Pen Spinning
- High-speed Regrasping
- High-speed Dribbling
- Egg Catching
- High-speed Catching System
Reference
- Akio Namiki, Yoshiro Imai, Masatoshi Ishikawa, and Makoto Kaneko : Development
of a High-speed Multifingered Hand System and Its Application to Catching,
2003 IEEE/RSJ International Conference on Intelligent Robots and Systems
(Las Vegas, 2003.10.30) pp.2666-2671
[ PDF format ]
- A. Namiki, Y. Imai, M. Ishikawa, M. Kaneko, H. Kameda, and J. Koyama :
Dynamic Catching Using a Ultra-High-Speed Multifingered Hand System,
2003 IEEE International Conference on Robotics and Automation
(Taipei, Taiwan, 2003.9.17) Video Proceedings, Abstracts & References,
pp.28-29
Abstract
- Dynamic grasping using a newly developed high-speed hand system and high-speed vision is proposed. In the high-speed hand system, a newly designed actuator provides the finger with excellent features: It is lightweight (about 110g per finger), and it is moved with speed reaching about 4m/s and 4N power at a finger tip, and backlash is small enough for high-gain feedback control. As a result high-speed motion at 180deg/0.1s is realized. With high-speed visual feedback at a rate of 1KHz, the hand can grasp and handle dynamically moving object. Experimental results are shown in which a falling object is caught by high-speed hand. ( Dynamic Catching Page )
Movies
- Demo [2.2Mbyte]
Related Works
- High-speed Pen Spinning
- High-speed Regrasping
- High-speed Dribbling
- Egg Catching
- High-speed Catching System
Reference
- Akio Namiki, Yoshiro Imai, Masatoshi Ishikawa, and Makoto Kaneko : Development of a High-speed Multifingered Hand System and Its Application to Catching, 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (Las Vegas, 2003.10.30) pp.2666-2671 [ PDF format ]
- A. Namiki, Y. Imai, M. Ishikawa, M. Kaneko, H. Kameda, and J. Koyama : Dynamic Catching Using a Ultra-High-Speed Multifingered Hand System, 2003 IEEE International Conference on Robotics and Automation (Taipei, Taiwan, 2003.9.17) Video Proceedings, Abstracts & References, pp.28-29