Development and Implementation of Grasp Algorithm for Humanoid Robot AR-601M

Kamil Khusnutdinov, Artur Sagitov, Ayrat Yakupov, Roman Meshcheryakov, Kuo-Hsien Hsia, Edgar Martinez-Garcia, Evgeni Magid

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 a grasping 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.

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Paper Citation


in Harvard Style

Khusnutdinov K., Sagitov A., Yakupov A., Meshcheryakov R., Hsia K., Martinez-Garcia E. and Magid E. (2019). Development and Implementation of Grasp Algorithm for Humanoid Robot AR-601M.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 379-386. DOI: 10.5220/0007921103790386


in Bibtex Style

@conference{icinco19,
author={Kamil Khusnutdinov and Artur Sagitov and Ayrat Yakupov and Roman Meshcheryakov and Kuo-Hsien Hsia and Edgar Martinez-Garcia and Evgeni Magid},
title={Development and Implementation of Grasp Algorithm for Humanoid Robot AR-601M},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={379-386},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007921103790386},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Development and Implementation of Grasp Algorithm for Humanoid Robot AR-601M
SN - 978-989-758-380-3
AU - Khusnutdinov K.
AU - Sagitov A.
AU - Yakupov A.
AU - Meshcheryakov R.
AU - Hsia K.
AU - Martinez-Garcia E.
AU - Magid E.
PY - 2019
SP - 379
EP - 386
DO - 10.5220/0007921103790386