13 / 14
Аппаратно-программный комплекс для решения задач…
13
Hardware–software complex for solving the task
of automatic capture of the object with manipulators
© A.G. Leskov, V.V. Illarionov, I.A. Kalevatykh,
S.D. Moroshkin, K.V. Bazhinova, E.V. Feoktistova
Bauman Moscow State Technical University, Dmitrov Branch, Dmitrov, 141801, Russia
The article presents a developed in BMSTU hardware and software package for model-
ing and testing robotic operations of capture and moving objects. It describes the struc-
ture, operation algorithms and software for solving problems of automatic capture of
objects with the manipulator equipped with a gripper with tactile sensitization.
Imple-
mentation of automatic capture of rectangular shape non-deformable objects is illustra-
ted by examples.
Keywords
: working objects, automatic capture, grasp planning, gripper with tactile
sensitization, computer vision system, pattern recognition, point cloud.
REFERENCES
[1]
Asfour T., Regenstein K., Azad P., Schroder J., Vahrenkamp N., Dillmann R.
ARMARIII: An integrated humanoid platform for sensory-motor control
. Pro-
ceedings of IEEE/RAS International Conference on Humanoid Robots
. Genova,
Italy, 2006, pp. 169–175.
[2]
Ott Ch., Eiberger O., Friedl W., Bäuml B., Hillenbrand U., Borst Ch., Albu-
Schäffer A., Brunner B., Hirschmüller H., Kielhöfer S., Konietschke R., Suppa
M., Wimböck T., Zacharias F., Hirzinger G. A humanoid two-arm system for
dexterous manipulation.
Proceedings of the IEEE/RAS International Conference
on Humanoid Robots
. Genova, Italy, 2006, pp. 276–283.
[3]
Tarantola A.
Robo Sally: The best bomb disposal bot is also the most human
.
Available at:
http://gizmodo.com/robo-sallys-bomb-disposal-skills-will-blow-you-away-511048993
[4]
Ackerman E.
HDT’s MK2 manipulators can outfit packbots with arms and
hands.
Available at:
http://spectrum.ieee.org/automaton/robotics/military-robots/hdts-mk2-manipulators-can-outfit-packbots-with-arms-and-hands
[5]
Adroit MK2 systems.
Available at:
http://www.hdtglobal.com/wp-content/uploads/2014/10/HDT_MK2robotics_15.pdf.
[6]
ROS: Robot operating system
. Available at:
http://www.ros.org/[7]
Kalevatykh I.A., Leskov A.G.
Inzhenernyi vestnic MGTU im. N.E. Baumana.–
Engineering Bulletin of Bauman Moscow State Technical University,
2012,
no. 11. Available at:
http://engbul.bmstu.ru/doc/496529.html[8]
Object recognition kitchen
. Available at:
http://wiki.ros.org/object_recognition[9]
Rusu R.B., Bradski G., Thibaux R., Hsu J. Fast 3D recognition and pose using
the Viewpoint Feature Histogram.
Proceedings of IEEE/RSJ International Con-
ference on Intelligent Robots and Systems (IROS).
Taipei, Taiwan, 2010,
pp. 2155–2162.
[10]
Rusu R.B., Cousins S. 3D is here: Point Cloud Library (PCL).
Proceedings of
IEEE International Conference on Robotics and Automation (ICRA).
Shanghai,
China, 2011, pp. 1–4.