We proposed a catching robot hand system that extended the focal length of the original optics unit by adding and rotating adjustment transparent plates. Because the refractive index of transparent plates is different from air, the thickness of the plates varies the optical focal point. Moreover, the rotating plates enable the focal length to be extended; therefore, this method is valid for dynamically capturing a scene for real-time visual feedback applications such as catching tasks in robotics. In our experiment, we confirmed the shift of focal points with our system, and then successfully conducted a catching task by using the robot hand system.
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