Tool Manipulation by a Multifingered Hand Using a High-speed Vision


Research

In order to achieve skillful handling, it is necessary that a multifingered hand has a capability to manipulate tools. One important problem of tool handling with a multifingered hand is that the relative positions among a robot hand, a tool and a handled object change during the handling. For this reason, it is necessary to measure the relative positions in real time, and to control a hand so as to cancel the changes by passive joint arise from frictional force between hand and tools. In our research, we have resolved this problem by using a high speed visual servoing. As an example, a tweezers is handled by a multifingered hand.



Movies

  • Pick up of rice with tweezers. [2.7Mbyte]

Reference

  1. Satoru Mizusawa，Akio Namiki，Masatoshi Ishikawa： Tool Manipulation by a Multifingered Hand Using a High-speed Vision， Proceedings of the 8th SICE System Integration Division Annual Conference (SI2007)，1B1-4 , pp. 55/66. (2007)
Ishikawa Komuro 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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