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Inverse kinematics of a humanoid robot with non-spherical hip: a hybrid algorithm approach
Cisneros Limón, Rafael and Ibarra Zannatha, Juan Manuel and Armada Rodríguez, Manuel Ángel
Inverse kinematics of a humanoid robot with non-spherical hip: a hybrid algorithm approach.
"International Journal of Advanced Robotic Systems", v. 10
||Inverse kinematics of a humanoid robot with non-spherical hip: a hybrid algorithm approach
Cisneros Limón, Rafael
Ibarra Zannatha, Juan Manuel
Armada Rodríguez, Manuel Ángel
|Título de Revista/Publicación:
||International Journal of Advanced Robotic Systems
||Humanoid Robots, Inverse Kinematics, Non‐Spherical Hip
||Centro de Automática y Robótica (CAR) UPM-CSIC
|Creative Commons Licenses:
||Recognition - No derivative works - Non commercial
This paper describes an approach to solve the
inverse kinematics problem of humanoid robots whose
construction shows a small but non negligible offset at
the hip which prevents any purely analytical solution to
be developed. Knowing that a purely numerical solution
is not feasible due to variable efficiency problems, the
proposed one first neglects the offset presence in order to obtain an approximate “solution” by means of an
analytical algorithm based on screw theory, and then uses
it as the initial condition of a numerical refining
procedure based on the Levenberg‐Marquardt algorithm.
In this way, few iterations are needed for any specified
attitude, making it possible to implement the algorithm
for real‐time applications. As a way to show the
algorithm’s implementation, one case of study is
considered throughout the paper, represented by the
SILO2 humanoid robot.
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