Development and implementation of GRASP algorithm for humanoid robot AR-601M

Copyright © 2019 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved 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