In this research, we have realized the propeller motion of a flower stick, which is a type of juggling in which the flower stick is rotated in the air using a handstick, with a robotic arm. Through this research, which aims to replicate the dexterous and high-speed movements of humans with robotic systems, we are developing fundamental technologies for high-speed dynamic manipulation that surpasses the performance of humans and conventional robots.
Reference
T. Aoyama, T. Takaki, Q. Gu, and I. Ishii: "Control Scheme of Nongrasping Manipulation Based on Virtual Connecting Constraint", IEEE International Conference on Robotics and Automation (ICRA), pp. 3819-3824, 2016.
T. Aoyama, T. Takaki, T. Miura, Q. Gu, and I. Ishii: "Realization of Flower Stick Rotation Using Robotic Arm", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.5648-5653, 2015.
T. Aoyama, K. Matsuba, T. Takaki, I. Ishii, and Y. Hasegawa: "Flower Stick Manipulation Based on the High-speed Visual Feedback Control of a Dual Robotic Arm", IFAC PapersOnLine, Vol.51, Issue 22, pp. 209–213, 12th IFAC Symposium on Robot Control, 2018.
Y. Asai, T. Aoyama, M. Takeuchi, and Y. Hasegawa: "Flower Stick Rotation Manipulation Scheme not Requiring High-speed Robotic Motion", IEEE International Symposium on Micro-NanoMechatronics and Human Science, pp. 30-31, 2019.