| Форма представления | Тезисы и материалы конференций в зарубежных журналах и сборниках |
| Год публикации | 2019 |
| Язык | английский |
|
Магид Евгений Аркадьевич, автор
Сагитов Артур Газизович, автор
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|
Хуснутдинов Камиль Сулейманович, автор
|
| Библиографическое описание на языке оригинала |
Khusnutdinov K., Sagitov A., Yakupov A., Meshcheryakov R., Hsia K.-H., Martinez-Garcia E.A., Magid E. Development and Implementation of Grasp Algorithm for Humanoid Robot AR-601M // The 16th International Conference on Informatics in Control, Automation and Robotics (Prague, Czech Republic; 29-31 July 2019) - p. 379-386. |
| Аннотация |
The 16th International Conference on Informatics in Control, Automation and Robotics |
| Ключевые слова |
Algorithm, Grasp Planning, Hand Pose Detection, Humanoid Robot |
| Название журнала |
The 16th International Conference on Informatics in Control, Automation and Robotics
|
| URL |
https://www.scitepress.org/PublicationsDetail.aspx?ID=jsV/KhH33nw=&t=1 |
| Пожалуйста, используйте этот идентификатор, чтобы цитировать или ссылаться на эту карточку |
https://repository.kpfu.ru/?p_id=257439 |
| Файлы ресурса | |
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Полная запись метаданных  |
| Поле DC |
Значение |
Язык |
| dc.contributor.author |
Магид Евгений Аркадьевич |
ru_RU |
| dc.contributor.author |
Сагитов Артур Газизович |
ru_RU |
| dc.contributor.author |
Хуснутдинов Камиль Сулейманович |
ru_RU |
| dc.date.accessioned |
2019-01-01T00:00:00Z |
ru_RU |
| dc.date.available |
2019-01-01T00:00:00Z |
ru_RU |
| dc.date.issued |
2019 |
ru_RU |
| dc.identifier.citation |
Khusnutdinov K., Sagitov A., Yakupov A., Meshcheryakov R., Hsia K.-H., Martinez-Garcia E.A., Magid E. Development and Implementation of Grasp Algorithm for Humanoid Robot AR-601M // The 16th International Conference on Informatics in Control, Automation and Robotics (Prague, Czech Republic; 29-31 July 2019) - p. 379-386. |
ru_RU |
| dc.identifier.uri |
https://repository.kpfu.ru/?p_id=257439 |
ru_RU |
| dc.description.abstract |
The 16th International Conference on Informatics in Control, Automation and Robotics |
ru_RU |
| dc.description.abstract |
In robot manipulator control, grasping different types of objects is an important task, but despite being a subject of many studies, there is still no universal approach. A humanoid robot arm end-effector has a significantly more complicated structure than the one of an industrial manipulator. It complicates a process of object grasping, but could possibly make it more robust and stable. A success of grasping strongly depends on a method of determining an object shape and a manipulator grasping procedure. Combining these factors turns object grasping by a humanoid into an interesting and versatile control problem. This paper presents agrasping algorithm for AR-601M humanoid arm with mimic joints in the hand that utilizes the simplicity of an antipodal grasp and satisfies force closure condition. The algorithm was tested in Gazebo simulation with sample objects that were modeled after selected household items. |
ru_RU |
| dc.language.iso |
ru |
ru_RU |
| dc.subject |
Algorithm |
ru_RU |
| dc.subject |
Grasp Planning |
ru_RU |
| dc.subject |
Hand Pose Detection |
ru_RU |
| dc.subject |
Humanoid Robot |
ru_RU |
| dc.title |
Development and Implementation of Grasp Algorithm for Humanoid Robot AR-601M |
ru_RU |
| dc.type |
Тезисы и материалы конференций в зарубежных журналах и сборниках |
ru_RU |
|
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