KFU. Card publication. Development and Implementation of Grasp Algorithm for Humanoid Robot AR-601M

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FEDERAL UNIVERSITY

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DEVELOPMENT AND IMPLEMENTATION OF GRASP ALGORITHM FOR HUMANOID ROBOT AR-601M

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2019

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אםדכטיסךטי

Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Sagitov Artur Gazizovich, author

Authors, students KFU

Khusnutdinov Kamil Suleymanovich, author

Bibliographic description in the original language

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.

Annotation

The 16th International Conference on Informatics in Control, Automation and Robotics

Keywords

Algorithm, Grasp Planning, Hand Pose Detection, Humanoid Robot

The name of the journal

The 16th International Conference on Informatics in Control, Automation and Robotics

URL

https://www.scitepress.org/PublicationsDetail.aspx?ID=jsV/KhH33nw=&t=1

Please use this ID to quote from or refer to the card

https://repository.kpfu.ru/eng/?p_id=257439&p_lang=2

Resource files

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F_2019_Development_and_Implementation_of_Grasp_Algorithm_for__umanoid_Robot_AR_601M.pdf	1,23	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Sagitov Artur Gazizovich	ru_RU
dc.contributor.author	Khusnutdinov Kamil Suleymanovich	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/eng/?p_id=257439&p_lang=2	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	Conference proceedings in international journals and collections	ru_RU