Dexterous remote manipulation by the Casting manipulator system

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We developed the casting manipulator system which consists of a rigid arm, a flexible wire with variable length, and a gripper. In this manipulation, the gripper is launched to the target with changing the length of the wire by rotating the arm. Then the gripper's trajectory is controlled by the tension of the wire, and it catches the target object. Finally, the target is retrieved by reeling up the wire with swinging the arm. We proposed the control methods for each motion phase and their effectiveness is verified through experiments.