Abstract
In recent years, various robot hands and arms have been developed for achieving dexterous manipulation tasks. However there are no robots that can not 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 have a different configuration with humans, or can not use its robotic hand effectively. The purpose of this study is to achieve kendama motion with a hand-arm by using visual feedback. We apply impedance control to robot hand in order to grasp kendama tool softly. The trajectory of the hand-arm is generated based on optimization. Image processing is executed at 900fps by high-speed vision system and GPU. As a result, the robot has succeeded in kendama motion.
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More From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
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