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


In this research, we realized manipulation of Rubik's cube using a high-speed robot hand with three fingers. The experimental system consists of a high-speed vision and a high-speed robot hand, and the high-speed vision can calculate the center of gravity position and angle of the Rubik's cube at 500 fps. The manipulation realized in this research is a total of three operations, two kinds of regrasping and one-face turning of the Rubik’s cube. By combining these three operations all the faces can be turned. In the experiment, these three operations were performed in a row in 1 second and we succeeded in 30 continuous operations in 10 seconds.

Face turning


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  1. Ryosuke Higo, Yuji Yamakawa, Taku Senoo and Masatoshi Ishikawa: Rubik's Cube Handling Using a High-Speed Multi-Fingered Hand and a High-Speed Vision System, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems(IROS2018) (Madrid, Spain, 2018.10.4)/Proceedings, pp.6609-6614 (2018).
  2. 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)
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