Dynamic Manipulation Like Normal-type Pen Spinning by a High-speed Robot Hand and a High-speed Vision System

This study presents a novel approach for dynamically manipulating an object, akin to standard pen spinning, by utilizing a high-speed robotic hand and visual feedback from a high-speed vision system. First, the dynamics of both standard pen spinning and the robotic hand are analyzed. Next, a pen spinning motion is developed for the robotic hand based on these dynamics. Experimental results of dynamic manipulation resembling conventional pen spinning demonstrate that the proposed simple motions of the robotic hand can achieve the desired dynamic (unstable) manipulation without the need for complex feedback controls.