Knotting Manipulation of a Flexible Rope Using a High-speed Multifingered Hand and High-speed Visual and Tactile Sensory Feedback

This paper proposes a new strategy for making knots with a high-speed multifingered robot hand with tactile sensors and visual sensor. The strategy is divided into three skills: loop production, rope permutation, and rope pulling. Through these three skills, a knot can be made with a single multifingered robot hand. In loop production, the wrist joint angle control is proposed by using visual feedback with high-speed visual sensor. In addition, the dynamics of the rope permutation are analyzed, and an effective tactile feedback control method is proposed based on the analysis. Finally, experimental results are shown using one high-speed multifingered hand with tactile and visual sensors.