KFU. Card publication. Numerical Solution Approach for the ROBOTIS OP2 Humanoid Hand Inverse Kinematics

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FEDERAL UNIVERSITY

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NUMERICAL SOLUTION APPROACH FOR THE ROBOTIS OP2 HUMANOID HAND INVERSE KINEMATICS

Form of presentation

Conference proceedings in international journals and collections

Year of publication

2022

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Authors, employees of KFU

Magid Evgeniy Arkadevich, author

Coy Tatyana Grigorevna, author

Other authors

Meshheryakov Roman , author

Khsia Kuo-Khsen , author

Authors, students KFU

Zagidullin Linar Farkhadovich, author

Bibliographic description in the original language

Zagidullin L., Tsoy T., Meshcheryakov R., Hsia K.-H., Magid E. Numerical Solution Approach for the ROBOTIS OP2 Humanoid Hand Inverse Kinematics // International Conference on Artificial Life and Robotics (ICAROB 2022) (online) - p. 682-685.

Annotation

International Conference on Artificial Life and Robotics (ICAROB 2022)

Keywords

Humanoid, Inverse Kinematics, Control, Manipulator

The name of the journal

International Conference on Artificial Life and Robotics (ICAROB 2022)

URL

https://icarob.org/custom4.html

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

https://repository.kpfu.ru/eng/?p_id=263909&p_lang=2

Resource files

File name	Size (MB)	Format
F_2022_Numerical_Solution_Approach_for_the_ROBOTIS_OP2__umanoid__and_Inverse_Kinematics.pdf	0,27	pdf	show / download

Full metadata record

Field DC	Value	Language
dc.contributor.author	Magid Evgeniy Arkadevich	ru_RU
dc.contributor.author	Coy Tatyana Grigorevna	ru_RU
dc.contributor.author	Meshheryakov Roman	ru_RU
dc.contributor.author	Khsia Kuo-Khsen	ru_RU
dc.contributor.author	Zagidullin Linar Farkhadovich	ru_RU
dc.date.accessioned	2022-01-01T00:00:00Z	ru_RU
dc.date.available	2022-01-01T00:00:00Z	ru_RU
dc.date.issued	2022	ru_RU
dc.identifier.citation	Zagidullin L., Tsoy T., Meshcheryakov R., Hsia K.-H., Magid E. Numerical Solution Approach for the ROBOTIS OP2 Humanoid Hand Inverse Kinematics // International Conference on Artificial Life and Robotics (ICAROB 2022) (online) - p. 682-685.	ru_RU
dc.identifier.uri	https://repository.kpfu.ru/eng/?p_id=263909&p_lang=2	ru_RU
dc.description.abstract	International Conference on Artificial Life and Robotics (ICAROB 2022)	ru_RU
dc.description.abstract	Small-size humanoids are widely used in human-robot interaction (HRI) projects and activities. To operate robot limbs in HRI and pick-and-place tasks it is required to solve an inverse kinematics problem. Classical approaches are closed-form solutions with algebraic or geometric approaches or a numerical solution. While a typical numerical solution is supposed to search for joint variables using an iterative optimization, in this paper we suggest an off-line solution for a ROBOTIS OP2 humanoid upper limb via a forward kinematics approach that allows to calculate in advance all possible solutions for an end effector pose within a robot workspace with several levels of the workspace discretization. The solution was obtained in a simulation and successfully validated with a real ROBOTIS OP2 humanoid.	ru_RU
dc.language.iso	ru	ru_RU
dc.subject	Humanoid	ru_RU
dc.subject	Inverse Kinematics	ru_RU
dc.subject	Control	ru_RU
dc.subject	Manipulator	ru_RU
dc.title	Numerical Solution Approach for the ROBOTIS OP2 Humanoid Hand Inverse Kinematics	ru_RU
dc.type	Conference proceedings in international journals and collections	ru_RU