KFU. Card publication. Household objects pick and place task for AR-601M humanoid robot

KAZAN
FEDERAL UNIVERSITY

- RUS
- 中文
- ES

HOUSEHOLD OBJECTS PICK AND PLACE TASK FOR AR-601M HUMANOID ROBOT

Form of presentation

Articles in international journals and collections

Year of publication

2019

Язык

английский

Authors, employees of KFU

Lavrenov Roman Olegovich, author

Magid Evgeniy Arkadevich, author

Sagitov Artur Gazizovich, author

Other authors

Hsia Kuo-Hsien , author

Martinez-Garcia Edgar A. , author

Authors, students KFU

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

Resource files

File name	Size (MB)	Format
Khusnutdinov_PaperFromBook.pdf	2,39	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Lavrenov Roman Olegovich	ru_RU
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Sagitov Artur Gazizovich	ru_RU
dc.contributor.author	Hsia Kuo-Hsien	ru_RU
dc.contributor.author	Martinez-Garcia Edgar A.	ru_RU
dc.contributor.author	Khusnutdinov Kamil Suleymanovich	ru_RU
dc.contributor.author	Yakupov Ayrat Aydarovich	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. 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.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=209120&p_lang=2	ru_RU
dc.description.abstract	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)	ru_RU
dc.description.abstract	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.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Grasping	ru_RU
dc.subject	Grasp planning algorithm	ru_RU
dc.subject	Pick and place task	ru_RU
dc.subject	Humanoid robot	ru_RU
dc.subject	Mimic joint	ru_RU
dc.subject	Gazebo simulation	ru_RU
dc.subject	Grasp modelling	ru_RU
dc.title	Household objects pick and place task for AR-601M humanoid robot	ru_RU
dc.type	Articles in international journals and collections	ru_RU