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| Record Number | 1272 |
| Reference Type | Conference Proceedings |
| Author(s) | Tevatia, G.;Schaal, S. |
| Year | 2000 |
| Title | Inverse kinematics for humanoid robots |
| Journal/Conference/Book Title | International Conference on Robotics and Automation (ICRA2000) |
| Keywords | inverse kinematics
humanoid robotics
high dimensional
resolved motion rate control
efficient
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-of-freedom robot, and were tested on a 30 degree-of-freedom robot.
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| Notes | clmc |
| URL(s) | http://www-clmc.usc.edu/publications/T/tevatia-ICRA2000.pdf
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| Place Published | San Fransisco, April 24-28, 2000 |
| Pages | 294-299 |
| Short Title | Inverse kinematics for humanoid robots |
| 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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