Dynamic Regrasping Using a High-speed Multifingered Hand and a High-speed Vision System

Summary

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 with keeping 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, the regrasping strategy based on visual feedback and the experimental results using a high-speed multifingered robot hand and a high-speed vision system are shown. As an example of a target for dynamic regrasping, we selected a cylinder and we achieved the dynamic regrasping tasks in the experiment.

Movies

• cylinder
• parallel-regrasping
• actual motion [WMV, 3.35MB]
• slow motion [WMV, 4.82MB], [WMV, 4.37MB]
• vertical-regrasping
• actual motion [WMV, 2.69MB]
• slow motion [WMV, 4.84MB]
• rotation-regrasping(180 [deg])
• slow motion [WMV, 4.84MB]
• continuous-regrasping
• slow motion [WMV, 4.69MB]

References

1. N. Furukawa, T. Senoo, A. Namiki and M. Ishikawa: Dynamic Regrasping Using a High-speed Multifingered Robot Hand and a High-speed Vision System, 6th SICE System Integration Division Annual Conference (SI2005), pp. 699-700 (2005)
2. Noriatsu Furukawa, Akio Namiki, Taku Senoo and Masatoshi Ishikawa. Dynamic Regrasping Using a High-speed Multifingered Hand and a High-speed Vision System. 2006 IEEE International Conference on Robotics and Automation. (Orlando, USA, 2006. 5.16) / Proceedings, pp.181-187. Best Manipulation Paper Award
3. N. Furukawa, T. Senoo, A. Namiki and M. Ishikawa: Grasp Strategy for Dynamic Regrasping, 2006 JSME Conference on Robotics and Mechatronics, 1A1-B34 (2006)