Dynamic Pen Spinning Using a High-speed Multifingered Hand with High-speed Tactile Sensor

Research

We propose a tactile feedback system in real time using a high-speed multifingered robot hand and a high-speed tactile sensor. The hand and the sensor is respectively capable of high-speed finger motion up to 180 [deg] per [0.1] s and high-speed tactile feedback with a sampling rate higher than 1 [kHz]. In this paper, we describe dynamic pen spinning as an example of a skillful manipulation task using a high-speed multifingered hand equipped with tactile sensors. The paper describes the tactile feedback control strategies and experimental results.

shutter speed; 20[f/s]

Movies

• Pen spinning [5.37Mbyte]
• Slow motion [32.1Mbyte]

Reference

1. Tatsuya Ishihara, Akio Namiki, Masatoshi Ishikawa and Makoto Shimojo. Dynamic Pen Spinning Using a High-speed Multifingered Hand with High-speed Tactile Sensor. 2006 IEEE RAS International Conference on Humanoid Robots. (Genova, Italy, 2006.12.05) / Proceedings, pp.258-263.