Dynamic intercept and manipulation of objects using a novel pneumatic robot hand

Most current dexterous robot hands are expensive and heavy, which limits the possibility of putting them on industrial robots because the maximum payload that an industrial robot can carry is small. Additionally, current robot hands are not very adaptable. Most grasping research doesn't include vision. A few works incorporate visual sensing, however, these concentrate on stationary objects. In this work, we present a novel pneumatic three-finger hand and use our earlier work in model based dynamic intercept to allow the hand to grasp semi-randomly moving objects. Experimental results show that this novel three-finger hand is simple, light and effective