Inverse kinematics of a humanoid robot with non-spherical hip: a hybrid algorithm approach

Cisneros Limón, Rafael; Ibarra Zannatha, Juan Manuel y 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.

Descripción

Título: Inverse kinematics of a humanoid robot with non-spherical hip: a hybrid algorithm approach
Autor/es:
  • Cisneros Limón, Rafael
  • Ibarra Zannatha, Juan Manuel
  • Armada Rodríguez, Manuel Ángel
Tipo de Documento: Artículo
Título de Revista/Publicación: International Journal of Advanced Robotic Systems
Fecha: 2013
Volumen: 10
Materias:
Palabras Clave Informales: Humanoid Robots, Inverse Kinematics, Non‐Spherical Hip
Escuela: Centro de Automática y Robótica (CAR) UPM-CSIC
Departamento: Otro
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

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Resumen

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.

Más información

ID de Registro: 32328
Identificador DC: http://oa.upm.es/32328/
Identificador OAI: oai:oa.upm.es:32328
Identificador DOI: 10.5772/55464
URL Oficial: 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
Depositado por: Memoria Investigacion
Depositado el: 26 Oct 2014 11:48
Ultima Modificación: 26 Oct 2014 11:48
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