Abstract : Classically, the inverse kinematics is performed by computing the singular value decomposition of the matrix to invert. This enables a very simple writing of the algorithm. However, the computation cost is high, especially when applied to complex robots and complex sets of constraints (typically around 5ms for 50 degrees of freedom -- DOF). In this paper, we propose a dedicated adaptation of quadratic programming that enables fast computations of the hierarchical inverse kinematics (around 0.1ms for 50~DOF). We then extend this algorithm to deal with unilateral constraints, obtaining sufficiently high performances for reactive control.
ICRA 2010 - IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.3733-3738, 2010, 〈10.1109/ROBOT.2010.5509953〉
https://hal.archives-ouvertes.fr/hal-00484853
Contributeur : Nicolas Mansard
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Soumis le : mercredi 19 mai 2010 - 12:41:33
Dernière modification le : mardi 10 janvier 2017 - 15:11:41
Document(s) archivé(s) le : jeudi 30 juin 2011 - 12:49:24
Adrien Escande, Nicolas Mansard, Pierre-Brice Wieber. Fast Resolution of Hierarchized Inverse Kinematics with Inequality Constraints. ICRA 2010 - IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.3733-3738, 2010, 〈10.1109/ROBOT.2010.5509953〉. 〈hal-00484853〉
