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Rubik's Cube handling using a high-speed multi-fingerd hand and a high-speed vision system

Summary

In this research, we aimed to realize dexterous and high-speed object manipulation by robot hand, and operated Rubik's cube as a concrete task.

By acquiring center of gravity position and angle of the Rubik's cube with a high-speed vision, we realized two kinds of regrasping and one turning operation required for solving the Rubik's cube and succeeded to do this within seconds.

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Regrasping(1)
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Regrasping(2)
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Face turning

Reference

  1. R. Higo, Y. Yamakawa, T. Senoo and M. Ishikawa: Three-dimensional rotating puzzle handling using high speed multi-fingered hand, 18th SICE System Integration Division Annual Conference(SI2017) (Sendai,Japan,2017.12.21)/Proceedings, pp.1400-1401 (2017)
Ishikawa Senoo Laboratory, Department of Information Physics and Computing, Department of Creative Informatics,
Graduate School of Information Science and Technology, University of Tokyo
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