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

Summary

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.

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References

1. Satoru Mizusawa, Akio Namiki and Masatoshi Ishikawa: Tweezers Type Tool Manipulation by a Multifingered Hand Using a High-Speed Visusal Servoing, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'08) (Nice, 2008.9.24), pp.2709-2714
2. 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)