Kazan (Volga region) Federal University, KFU
KAZAN
FEDERAL UNIVERSITY
 
HOUSEHOLD OBJECTS PICK AND PLACE TASK FOR AR-601M HUMANOID ROBOT
Form of presentationArticles in international journals and collections
Year of publication2019
Языканглийский
  • Lavrenov Roman Olegovich, author
  • Magid Evgeniy Arkadevich, author
  • Sagitov Artur Gazizovich, author
  • Hsia Kuo-Hsien , author
  • Martinez-Garcia Edgar A. , author
  • Khusnutdinov Kamil Suleymanovich, author
  • Yakupov Ayrat Aydarovich, author
  • Bibliographic description in the original language Khusnutdinov K. Household Objects Pick and Place Task for AR-601M Humanoid Robot / Sagitov A., Yakupov A., Lavrenov R., Martinez-Garcia E.A., Hsia K.-H., Magid E. // Lecture Notes in Computer Science. - 2019. - Vol. 11695. - p. 139-149.
    Annotation Humanoid robots are created to facilitate many facets of daily life, both in scenarios when humans and robots collaborate and when robot completely replaces human. One of such more important cases is the household assistance for older people. When a robot operates in home environments the needs to interact with various household objects, of different shape and size. A humanoid end-effector is typically modeled to have from two to five configuration of fingers designed specifically for grasping. By making fingers flexible and using dexterous arm one could operate objects in many different configurations. If one chooses to provide a finger control by actuating each of the finger's phalanxes by using separate motor, humanoid hand becomes costly and overall size of the hand will significantly increase to accommodate necessary hardware and wiring. To address this issue, many engineers prefer to employ mimic joints to reduce a cost and size, while keeping acceptable levels of finger's dexterity. This paper presents a study on household objects pick and place task being implemented for AR-601M humanoid robot that is using mimic joints in his fingers. Experiments were conducted in a Gazebo simulation with 5 model objects, which were created to be representations of real typical household items.
    Keywords Grasping, Grasp planning algorithm, Pick and place task, Humanoid robot, Mimic joint, Gazebo simulation, Grasp modelling
    The name of the journal Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
    URL https://link.springer.com/chapter/10.1007/978-3-030-26118-4_14
    Please use this ID to quote from or refer to the card https://repository.kpfu.ru/eng/?p_id=209120&p_lang=2
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