Dynamic regrasping using a high-speed multifingered hand and a high-speed vision system

Abstract

In most previous studies, it has been difficult for a robot hand to regrasp a target quickly because its motion was static or quasi-static, in a constant contact state. In order to achieve high-speed regrasping, we propose a new strategy which we call dynamic regrasping. In this strategy, the regrasping task is achieved by throwing a target up and by catching it. In this paper, a regrasping strategy based on visual feedback is presented and experimental results using a high-speed multifingered robot hand and a high-speed vision system are shown. A cylinder is chosen as a specific example of target for dynamic regrasping, with which successful dynamic regrasping tasks are experimentally achieved