高速多指ハンドと高速視覚を用いたダイナミックリグラスピングに関する研究 |
In most previous studies, it has been difficult for a robot hand to regrasp a target quickly because its motion was static or quasi-static, in a constant contact state. In order to achieve high-speed regrasping, we propose a new strategy which we call dynamic regrasping. In this strategy, the regrasping task is achieved by throwing a target up and by catching it. In this paper, a regrasping strategy based on visual feedback and a learning method of unknown dynamic parameters of a cylindrical object is presented and experimental results using a high-speed multifingered robot hand and a high-speed vision system are shown. A cylinder and a rectangular are chosen as specific examples of target for dynamic regrasping, with which successful dynamic regrasping tasks are experimentally achieved.