Robot dribbling using a high-speed multifingered hand and a high-speed vision system

Abstract

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 concept of dynamic holding, then we describe an experiment of dribbling by a robot as an example of dynamic holding using a high-speed multifingered hand and a high-speed vision system.