High-Speed Ring Insertion by Dynamic Observable Contact Hand
We propose a new multifingered robotic hand, called dynamic observable contact (DOC) hand and realize high-speed, high-precision ring insertion. The clearance between the shaft and ring is 0-36 micro-millimeters. Experiment results show that DOC hand performs high-precision ring insertion with a higher speed than a human. The average cycle time is 2.42 s for the robot, whereas it is 2.58 s for a human. In order to reduce impact force at insertion and compensate the position error, DOC hand has the following two properties. 1) 6-DOF dynamic passivity: The grasp system exhibits passivity with respect to the impact in any direction. 2) Object-pose observability: The object pose in the grasp system can be observed by the hand. This system has been developed in collaboration with OMRON Corporation.
http://ishikawa-vision.org/fusion/doc...