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Throwing and shooting manipulations of playing cards using a high-speed multifingered hand and a vision system

In this research, we demonstrated dexterous manipulation of sheet-like elastic objects, namely, playing cards, using a high-speed robot system. In particular, our goal was to achieve card throwing and card shooting towards a target object by using a high-speed multifingered robot hand and visual feedback based on a vision system. We discuss card grasping in the initial state by analyzing the motion of a human subject for achieving card throwing, and we propose a strategy for card throwing and card shooting. We also examined the grasping position of the card and the release timing for throwing the card in a desired direction. Finally, we show experimental results of card throwing and card shooting towards target objects, such as a static cup, a static pen, and a moving cup, without/with visual feedback.