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| Record Number | 10268 |
| Reference Type | Report |
| Author(s) | Tevatia, G.;Schaal, S. |
| Year | 2008 |
| Title | Efficient inverse kinematics algorithms for highdimensional movement systems |
| Journal/Conference/Book Title | CLMC Technical Report: TR-CLMC-2008-1 |
| Keywords | inverse kinematics, extended jacobian |
Abstract |
Real-time control of the endeffector of a humanoid robot in external coordinates requires
computationally efficient solutions of the inverse kinematics problem. In this context, this
paper investigates methods of resolved motion rate control (RMRC) that employ optimization
criteria to resolve kinematic redundancies. In particular we focus on two established techniques,
the pseudo inverse with explicit optimization and the extended Jacobian method. We prove that
the extended Jacobian method includes pseudo-inverse methods as a special solution. In terms of
computational complexity, however, pseudo-inverse and extended Jacobian differ significantly in
favor of pseudo-inverse methods. Employing numerical estimation techniques, we introduce a
computationally efficient version of the extended Jacobian with performance comparable to the
original version. Our results are illustrated in simulation studies with a multiple degree-offreedom
robot, and were evaluated on an actual 30 degree-of-freedom full-body humanoid robot.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications//T/TR-CLMC-2008-1.pdf
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| Short Title | Efficient inverse kinematics algorithms for highdimensional movement systems |
| Papers are available as Adobe PDF ".pdf" files. Adobe Reader is available for free for all computer platforms.
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Page last modified on August 10, 2006, at 06:47 PM
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