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 (2013). Inverse kinematics of a humanoid robot with non-spherical hip: a hybrid algorithm approach. "International Journal of Advanced Robotic Systems", v. 10 ; pp. 1-13. ISSN 1729-8806. https://doi.org/10.5772/55464.

Description

Title: Inverse kinematics of a humanoid robot with non-spherical hip: a hybrid algorithm approach
Author/s:
  • Cisneros Limón, Rafael
  • Ibarra Zannatha, Juan Manuel
  • Armada Rodríguez, Manuel Ángel
Item Type: Article
Título de Revista/Publicación: International Journal of Advanced Robotic Systems
Date: 2013
ISSN: 1729-8806
Volume: 10
Subjects:
Freetext Keywords: Humanoid Robots, Inverse Kinematics, Non‐Spherical Hip
Faculty: Centro de Automática y Robótica (CAR) UPM-CSIC
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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.

More information

Item ID: 32328
DC Identifier: http://oa.upm.es/32328/
OAI Identifier: oai:oa.upm.es:32328
DOI: 10.5772/55464
Official URL: http://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/inverse-kinematics-of-a-humanoid-robot-with-non-spherical-hip-a-hybrid-algorithm-approach
Deposited by: Memoria Investigacion
Deposited on: 26 Oct 2014 11:48
Last Modified: 26 Oct 2014 11:48
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