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Inverse kinematics for humanoid robots


Conference Paper


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. 

Author(s): Tevatia, G. and Schaal, S.
Book Title: International Conference on Robotics and Automation (ICRA2000)
Pages: 294-299
Year: 2000

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

Address: San Fransisco, April 24-28, 2000
Cross Ref: p1272
Note: clmc
URL: http://www-clmc.usc.edu/publications/T/tevatia-ICRA2000.pdf


  title = {Inverse kinematics for humanoid robots},
  author = {Tevatia, G. and Schaal, S.},
  booktitle = {International Conference on Robotics and Automation (ICRA2000)},
  pages = {294-299},
  address = {San Fransisco, April 24-28, 2000},
  year = {2000},
  note = {clmc},
  crossref = {p1272},
  url = {http://www-clmc.usc.edu/publications/T/tevatia-ICRA2000.pdf}