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Autonomous Motion Technical Report 2008

Efficient inverse kinematics algorithms for highdimensional movement systems

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Autonomous Motion
Stefan Schaal
  • Director

Real-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.

Author(s): Tevatia, G. and Schaal, S.
Book Title: CLMC Technical Report: TR-CLMC-2008-1
Year: 2008
Bibtex Type: Technical Report (techreport)
Cross Ref: p10268
Electronic Archiving: grant_archive
Note: clmc
URL: http://www-clmc.usc.edu/publications//T/TR-CLMC-2008-1.pdf

BibTex 

@techreport{Tevatia_CTRT_2008,
  title = {Efficient inverse kinematics algorithms for highdimensional movement systems},
  booktitle = {CLMC Technical Report: TR-CLMC-2008-1},
  abstract = {Real-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.},
  year = {2008},
  note = {clmc},
  slug = {tevatia_ctrt_2008},
  author = {Tevatia, G. and Schaal, S.},
  crossref = {p10268},
  url = {http://www-clmc.usc.edu/publications//T/TR-CLMC-2008-1.pdf}
}