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High-speed Four-Fingered Robot Hand with Common Rotational Axis by using Dual Turning Mechanism

[ Abstract ]

  This work 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 the particular rotating axis where the manipulation around the axis can be completely decomposed into the velocity control around the axis and the internal force control in the contact plane. We achieved a manipulation task around the axis with the time of 0.8[sec] for one rotation, while it is relatively slow for another axis.

MPEG Movie(3.9M)

High-speed four-fingered hand with the dual turning mechanism.

MPEG Movie(18.4M)

Hand motions which human can not.

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