抄録
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, and there are several previous researches about robotic juggling. However, there are few researches in which a human-like multi-fingered hand-arm is used. The purpose of this study is to achieve ball-juggling with a hand-arm, which has three general purpose fingers, and stereo vision. Image processing is executed at 500fps by high-speed vision system and GPU. The trajectory of the hand-arm is generated based on the estimated ball's dropping position and the moment, and the hand catches the ball. The juggling motion is achieved by repeating this cycle. As a result, the robot has succeeded in juggling one ball.
