Dynamic Holding Using a High-Speed Multifingered Hand

Summary

In order to achieve faster and more dexterous manipulations, we are proposing a strategy called ``dynamic holding.'' In the dynamic holding condition, an object is held in a stable condition while the object is moving at high-speed. In this research, high-speed dribbling is achieved as an example of dynamic holding using a high-speed multifingered hand and a high-speed vision system.

Static Holding	Dynamic Holding

One Finger Dribbling	Two Finger Dribbling

Movies

• One Finger Dribbling
      [MPEG, 1.3MB], Slow Motion [MPEG, 6.0MB]
• Two Fingers Dribbling
      [MPEG, 1.9MB], Slow Motion [MPEG, 5.1MB]

Reference

1. Daisuke Shiokata, Akio Namiki and Masatoshi Ishikawa. Robot Dribbling Using a High-Speed Multifingered Hand and a High-Speed Vision System, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (Edmonton, 2005.8.5) / Proceedings, pp. 3945-3950.