3P1-O06 視触覚情報を用いたけん玉の動的キャッチング(感覚・運動・計測(2))

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  • 3P1-O06 Dynamic Catching of Kendama by Using Visual and Tactile Information(Sense, Motion and Measurement (2))

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In recent years, various robot hands and arms have been developed for achieving dexterous manipulation tasks. However there are few robots that cannot 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 can not use their robotic hands effectively. The purpose of this study is to achieve kendama motion by the estimation of the grasping object based on high-speed visions and CoP tactile sensors. So, we propose a new revised method to estimate the grasping state based on an extended Kalman filter. As a result, the robot has succeeded in catching motion of kendama.

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