1A2-I03 高速ハンドアームと高速ビジョンを用いたけん玉の動的操り(ロボットハンドの機構と把持戦略(2)) [in Japanese] 1A2-I03 Dynamic Manipulation of Kendama by Using High-speed Hand-Arm and High-speed Vision(Robot Hand Mechanism and Grasping Strategy(2)) [in Japanese]
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In recent years, various robot hands and arms have been developed for achieving dexterous manipulation tasks. However there are no robots that can not only move quickly but also handle tools dexterously. Kendama motion is one example of dynamic manipulation and skillful handling. There are several previous researches about robotic kendama. However, in these researches robots have a different configuration with humans, or can not use its robotic hand effectively. The purpose of this study is to achieve kendama motion with a hand-arm by using visual feedback. We apply impedance control to robot hand in order to grasp kendama tool softly. The trajectory of the hand-arm is generated based on optimization. Image processing is executed at 900fps by high-speed vision system and GPU. As a result, the robot has succeeded in kendama motion.
- The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2012(0), _1A2-I03_1-_1A2-I03_4, 2012
The Japan Society of Mechanical Engineers