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Publication Details

Reference TypeReport
Author(s)Tevatia, G.;Schaal, S.
TitleEfficient inverse kinematics algorithms for highdimensional movement systems
Journal/Conference/Book TitleCLMC Technical Report: TR-CLMC-2008-1
Keywordsinverse kinematics, extended Jacobian
AbstractReal-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.
Short TitleEfficient inverse kinematics algorithms for highdimensional movement systems

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