High-speed Grasping of a Card using New Actuator MagLinkage

“MagLinkage” is a new actuator (small size, low friction and high torque). The actuator is consisted of a compact size DD motor (MTL, Inc.), a low-reduction ratio gear box (Shindensha, inc.) and a magnet gear (FEC, inc.). MagLinkage enables 1ms torque control and sensing, and high-backdrivability motion. The impact force can be absorbed by the high-backdrivability motion of MagLinkage. The robot hand equipped with MagLinkage can slide and grasp a thin object on a table. By sliding the object with high speed and soft touch, the hand succeeded in grasping one piece from the pile of cards. This is a difficult task for a conventional robot hand.

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Janken robot,High-speed vision,University of Tokyo,Sensor Fusion,High backdrivability,High-speed grasping,High-speed manipulation,Card manipulation,