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

Summary

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 are 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], respectively. In this research, we achieve a dynamic pen spinning as an example of a skillful manipulation task using a high-speed multifingered hand equipped with tactile sensors.

At first, we perform a pen oscillation using the two fingers of the robot hand. Next, we introduce the tactile feedback in order to extract timings of grasp and release of the pen. And then, the pen spinning can be carried out by using the pen oscillation and the grasp and release of the pen using tactile feedback. The below figures show the experimental result of the pen spinning.

shutter speed; 20[f/s]

Movies

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.