2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems Best Jubilee Video Award Ultra High-speed Robot Based on 1 kHz Vision System, 2012 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems.
In robotic manipulation visual servoing is important to achieve dexterous and accurate handling. And one of the most important problems is occlusion by the robot's body. It is difficult to know the position and orientation of the object being mani...
The demand of robots, which is to work under the hazardous environment scene instead of human, is getting increased in recent years. Such robots should be controlled directly by human operators to make flexible decisions under such conditions, so ...
Juggling is one of tasks involving skillful dynamic manipulation, and visual information is essential to perform juggling. We achieved a two-ball juggling task with our high-speed robotic hand-arm system which had three general-purpose fingers and...
In this study, we propose a novel air-hockey robot that can change its actions according to the behaviors of opposite human player. In the robot, its attack behaviors are optimized during an air hockey game by recognizing the motions of the puck a...
In this paper, we propose a sword-fighting robot system controlled by a stereo high-speed vision system as an example of human-robot dynamic interaction systems. The robot recognizes motions of an opponent human player quickly by using CAMshift. C...
In this paper we propose a novel display system that consists of a high-speed vision and high-speed projector. And this system can control a view of the projected image by controlling the original image acquired from high-speed vision. The project...
This paper proposes a robot which can pour liquid from bottle. The robot consists of a 7-axis robot arm and 4-axis robot hand, a high-speed vision, and the robot is controlled based on visual information. The robot system has the abilities to pour...
In recent years, various robot hands and arms have been developed for achieving dexterous manipulation tasks. However there are few robots that cannot only move quickly but also handle tools dexterously. Kendama motion is one example of dynamic ma...
In this paper the robotic throwing task is taken up in order to achieve high-speed dynamic manipulation. We propose a kinetic chain approach for swing motion focused on the torque transmission. In addition the release method using robotic hand is ...
The purpose of the study is to achieve various types of paper handling such as turning over, bending, and folding, and the final goal is to achieve Origami task by multifingered hand. As a first step, in this paper, a position control of a paper b...
In recent years, the demand for robots to perform various tasks in dangerous environments has increased. Operation type robots are more suitable for dangerous environments than autonomous robots because human operators can give suitable judgement....
This paper illustrates the relationship between the knotting process and robot hand skills. To extract a necessary hand skill for knotting, the knotting motion by human is analyzed. As a result, loop production, rope permutation, and rope pulling ...
One of the most important functions for robot hand is to regrasp a target object. In recent years, the strategy which is called "Dynamic Regrasping" has been introduced to achieve high-speed regrasping. In this strategy, the regrasping task is ach...
As for human, skillful manipulation is achieved by using the dynamics of the target effectively. Also as for robot manipulation, juggling is an example of skillful manipulation, its efficiency is improved by using unstable condition of the manipul...
In order to achieve a skillful handling like a human hand, it is necessary that a hand has a capability to manipulate tools. One important problem of tool handling with a multifingered hand is that relative positions among a robot hand, a tool and...
To develop a dexterous robot hand is one of the most important subjects in the robot research field. The purpose of this paper is to achieve skillful manipulation by a multi-fingered robot hand with fingertip revolution axes. First, the kinematic ...
The purpose of the study is to achieve high-speed throwing motion using the hand-arm. In order to achieve high-speed motion, an appropriate motion using the dynamic characteristic of the arm is needed. Most of human sports players can use kinetic ...
To achieve a human like grasping with a multi fingered robot hand, an interaction with vision and tactile information is indispensable. The method to use the camera for the vision information acquisition of the robot hand is common. The camera is ...
The purpose of the study is to achieve high-speed throwing motion using the hand-arm. In order to achieve high-speed motion, a human motion is referred to. Most of human sports players can use kinetic energy efficiently based on dynamics of body. ...
The goal of this study is to develop the technology of high-speed human interactive robot in which the robot reads the opponent's intention and moves in response to the opponent's motion and human purpose expectation. To achieve this, we develop a...
日本ロボット学会誌 = Journal of Robotics Society of Japan 25(6) 970-978 2007年9月
To achieve a human like grasping by the multi-fingered robot hand, grasping force should be controlled without information of the grasping object such as the weight and the friction coefficient. In this study, we propose a method for detecting the...
This paper explains the dynamic manipulation of a linear flexible object with a high-speed robot arm. As an example of the dynamic manipulation, we perform the dynamic knotting of a flexible rope. First, the dynamic knotting by human is analyzed i...
The purpose of this paper is to achieve skillful manipulation by a multi-fingered robot hand with fingertip revolution axes. First, the kinematic relationship between the fingertip revolution and the orientation of a grasped object is proposed. Se...
To achieve a human like grasping by the multi-fingered robot hand, grasping force should be controlled without information of the grasping object such as the weight and the friction coefficient. In this study, we propose a method for controlling g...
The purpose of this paper is dynamic manipulation of sheet flexible object. As one example of dynamic manipulations of sheet flexible object, dynamic folding of a cloth with two high-speed multifingered hands mounted on sliders system will be carr...
Handling behavior of human can be divided into Pinching and Grasping. In multi-fingered robot hand, wrapping grasp which permits the object to contact with the finger link other than the tip of finger, or palm is called Power grasp. The interactio...
In this paper, we focus on control of slip of paper. The goal is the position control of a paper by recognizing slip information. For this purpose, we use high-speed multifingered hand with CoY (center of pressure) sensor. CoP sensor can output th...
The speed of recent robotic manipulation is very slow although a mechanical system excels in the speed of motion fundamentally. On the other hand various inventions which contribute to fast movement are reported in human motion. For instance, in h...
This paper proposes a teaching system for multi-fingered robot hand using kinetic information of a manipulated object under rolling contact in order to achieve the desired movement of a manipulated object easily and accurately. According to the ki...
Juggling is one of tasks involving skillful dynamic manipulation, and visual information is essential to perform juggling. We have already achieved a two-ball juggling task with our high-speed robotic hand-arm system which has three general-purpos...
In this study, we propose a strategy of knotting using a high-speed multifingered robot hand and tactile sensors. The strategy is divided to three steps: a loop generation, a replacement of ropes, and a pulling of a rope. Through these three steps...
This paper proposes a teaching system for multi-fingered robot hands based on kinetic information of grasped objects. The goal of this system is to teach manipulation motions of multi-fingered robot hands intuitively and effectively. This paper pr...
Most of robots has link mechanisms consisting of several links and joints, and the joint angle sensors are used to measure the poses. If any one of joint angle sensors breaks down, the robot cannot know its correct pose and can not move correctly....
Multifingerd hand is capable of using tool and can increase its ability. With high-speed actuator and vision robot can do more advanced tool manipulation than human. The task multifingered hand catches a small ball in parabolic and free fall motio...
Humans can perform fast and skillful manipulations using various parts of the body by effectively utilizing the dynamics of the targets. Visual sensation is the most important human sense used for such manipulations. It is obviously preferable tha...
日本ロボット学会誌 = Journal of Robotics Society of Japan 24(7) 813-819 2006年10月
This paper newly proposes a multi-fingered robot hand with a common rotational axis shared by all base joints of finger. By focusing on a manipulation around such a particular axis, finger motion planning drastically becomes simple. In order to ge...
In this research, we focus on a manipulation of a sheet-like elastic object using a high-speed robot hand. Here, we manipulate a card as one of the sheet-like elastic object. In particular, we aim at a card flicking using a fingertip high-speed vi...
In the paper, a new master-slave manipulation system is proposed. The system consists of a master system called Telexistence-FST and a slave humanoid robot. The master system measures the pose of an operator by Flexible Sensor Tube (FST) which con...
Recently, the usefulness of multi-fingered robot hands to perform fine manipulation and grasping tasks is widely recognized. In this study, we focus on dexterous manipulation in particular, and we have developed a new robot hand to improve dextero...
日本ロボット学会誌 = Journal of Robotics Society of Japan 24(4) 515-522 2006年5月
Speeding up of robot motion provides not only improvement in operating efficiency but also dexterous manipulation using unstable state or non-contact state. To produce high-speed manipulation, we have developed a robot system with 1 [kHz] vision s...
In this paper, we propose a robot manipulation system controlled by a stereo high-speed vision system. The vision system recognizes targets by using CAMshift. CAMshift is an tracking algorithm based on the pattern of the color histogram of a targe...
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 cantact state. In order to achieve high-speed regrasping, we propose a new strategy which we ...
This paper is about a teaching system for multi-fingered robot hands using kinetic information of a manipulated object with feedback control. The purpose of this system is to operate multi-fingered robot hands with high DOF intuitively and effecti...
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 ma...
We propose a tactile feedback system in real time using a high-speed multifingered robot hand and high-speed tactile sensor. The hand and the sensor is respectively capable of high-speed finger motion up to 180 deg per 0.1 s and high-speed tactile...
In this paper, we try to achieve origami tasks by multi-fingered hands. Paper is thin and deformable and it crumples easily. If there is a crease in the paper, its stiffness increases in the parallel direction, and its stiffness decreases in the n...
A multifingered hand system which can catch a thrown ball at a high-speed by visual feedback control is developed. The system consists of 1ms vision chip system, high-speed multifingered hand system, and visual feedback control system. A ball is t...
This paper is about a teaching system for a multi-fingered robot hand using kinetic information of a manipulated object with vision feedback. The proposal of this system is to operate a multi-fingered robot hand with high DOF intuitively and effec...
This paper proposes a robot which can play air hockey game with a human. The robot consists of a 4-axis robot arm and a high-speed vision, and the robot is controlled based on visual information at the rate of 500Hz. The robot system has the abili...
Humans perform skillful and fast manipulations by utilizing the dynamics of the targets effectively. Visual sensation is the most important human sense for such manipulation. It is obviously preferable that robot can perform various tasks using sa...
One of the robots to interact with humans is the air hockey robots. The robots require to respond instantly to a high-speed puck. The problems of the present system are control tracking performance in terms of accuracy and generating control input...
The goal of this study is to develop the technology of the robot to reach the goal of a human player for more than 80 percent. To achieve this, we use high speed manipulator, high speed image processing method, real-time and high-accuracy control ...
This paper proposes a robot which can pour liquid from bottle. The robot consists of a 7-axis robot arm and 4-axis robot hand, a high-speed vision, and the robot is controlled based on visual information at the rate of 500Hz. The robot system has ...
In this paper, we explain a simple model and a deformation control of a linear flexible object with a high-speed robot arm. First, we propose the simple deformation model of a flexible rope using a high-speed robot motion. Then, we perform a theor...
In the paper, a new master-slave manipulation system is proposed. The system consists of the master system called telexistence FST and a dual-hand-arm robot. The master system measures the pose of a operator by Flexible Sensor Tube (FST) which con...
The goal of this study is to develop a robot vision system which can recognize colors more precisely than human at high speed. To achieve this, we have developed a system which consists of a multi-spectral light source which can change its wavelen...
In order to achieve a skillful handling like a human hand, it is necessary that a hand has a capability to manipulate tools. One important problem of tool handling with a multifingered hand is that relative positions among a robot hand, a tool and...
In this paper high-speed manipulation system is developed, which consists of two manipulators and active visions. The design concept and the features of the system are described. In addition a task using non-contact state is taken up in order to a...
In this paper, we propose a new zoom and focus tracking system. First, a new zoom and focus mechanism for a high speed-vision is proposed. The mechanism consists of a varifocal lens and two DC blush motors. It is lightweight, and it has good perfo...
Proceedings of the SICE Annual Conference 3376-3379 2008年12月
In this paper, visuomotor integration in high-speed manipulation system is discussed, and "dynamic pen-spinning" and "one-handed knotting" are proposed as the examples. These applications are based on not only the improvement of the vision and the...
Humans perform skillful and fast manipulation by utilizing the dynamics of the targets effectively. Visual sensation is the most important human sense for such manipulation. Juggling is one example of skillful and dynamic manipulation of human, an...
年次大会講演論文集 : JSME annual meeting 2004(5) 301-302 2004年9月
An application of the tactile sensor using a method for measuring the center position of the two dimensional distributed load is proposed and the basic experimental results for its verification are shown. The sensor used in this method is construc...
Proceedings - IEEE International Conference on Robotics and Automation 2006 1762-1767 2006年12月
Speeding up robot motion provides not only improvement in operating efficiency but also improves dexterous manipulation by taking advantage of an unstable state or non-contact state. In this paper we describe a hybrid trajectory generator that pro...
In this paper, a new zoom and focus mechanism for a high speed-vision is proposed. The mechanism consists of a varifocal lens and two AC servo motors. It is lightweight, and it has good performance to be controlled at high speed. We propose a visu...
2006 SICE-ICASE International Joint Conference 4192-4197 2006年12月
In this paper, visuomotor integration in high-speed manipulation system is discussed, and several dynamic manipulation strategies are proposed as the examples. These applications are based on not only the improvement of the vision and manipulator ...
Electronics and Communications in Japan, Part III: Fundamental Electronic Science (English translation of Denshi Tsushin Gakkai Ronbunshi) 89 19-30 2006年7月
"Dynamics matching" is a design concept in sensory-motor fusion systems, where the performance is maximized by adjustment of the dynamics of the system under the physical and computational constraints. This paper models dynamics matching as an opt...
Proceedings - IEEE International Conference on Robotics and Automation 2005 2679-2684 2005年12月
This paper newly proposes the four-fingered robot hand with dual turning mechanism where two and two other fingers can independently rotate inner and outer circles with the common center, respectively. Due to this mechanical configuration, it has ...
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 3945-3950 2005年12月
In order to achieve faster and more dexterous manipulations, we propose a strategy called "dynamic holding." In the dynamic holding condition, the object is held in a stable condition while moving at high-speed. In this paper, we first explain the...
2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1821-1826 2005年12月
The coexistence of humans and industrial robots in a common workspace provides the advantage of increased flexibility in production or longer system up-time during maintenance. However, it is fundamentally necessary to guarantee the safety of the ...
Springer Tracts in Advanced Robotics 15 517-526 2005年12月
This paper discusses the 100G Capturing Robot that can produce the maximum acceleration of 100G in design specification. To achieve such a high acceleration, we utilize spring energy with a light arm/gripper. The Arm/Gripper Coupling Mechanism (AG...
Proceedings - IEEE International Conference on Robotics and Automation 2005 2655-2660 2005年12月
A new multifingered hand system with quick finger motion of 180deg per 0.1s has been developed.With high-speed visual feedback at a rate of 1kHz, high-speed catching of a falling ball are achieved.In this catching task, a target was dropped from a...
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