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Intuitive Motion: Acceleration-Based Inverse Kinematics on Arbitrary Coordinates

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Walking Robots into Real World (CLAWAR 2024)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 1114))

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Abstract

Inverse kinematics is a well-known but mathematically hard problem in robotics. Existing algorithms especially fail at singularities. Unfortunately, being in a singular knee joint position is the usual case for humans. Herein, an acceleration-based approach is proposed, capable of handling arbitrary coordinate transformations, including singular ones. The algorithm is analyzed and evaluated at the hand of a robotic leg.

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Notes

  1. 1.

    Digit by Agility Robotics: https://agilityrobotics.com (date 2024).

  2. 2.

    Nadia by Boardwalk Robotics: https://boardwalkrobotics.com (date 2024).

  3. 3.

    H1 by Unitree: https://www.unitree.com (date 2024).

  4. 4.

    Atlas by Boston Dynamics: https://bostondynamics.com (date 2024).

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Authors and Affiliations

  1. Department of Computer Science, RPTU Kaiserslautern-Landau, 67663, Kaiserslautern, Germany

    Patrick Vonwirth, Axel Vierling, Oleksandr Sivak & Karsten Berns

Authors
  1. Patrick Vonwirth
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  2. Axel Vierling
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  3. Oleksandr Sivak
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  4. Karsten Berns
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Corresponding author

Correspondence to Patrick Vonwirth .

Editor information

Editors and Affiliations

  1. University Kaiserslautern-Landau, Kaiserslautern, Germany

    Karsten Berns

  2. School of Engineering, London South Bank University, London, UK

    Mohammad Osman Tokhi

  3. Karlsruhe Institute of Technology, Karlsruhe, Baden-Württemberg, Germany

    Arne Roennau

  4. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  5. FZI Research Center for Information, Karlsruhe, Baden-Württemberg, Germany

    Rüdiger Dillmann

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Vonwirth, P., Vierling, A., Sivak, O., Berns, K. (2024). Intuitive Motion: Acceleration-Based Inverse Kinematics on Arbitrary Coordinates. In: Berns, K., Tokhi, M.O., Roennau, A., Silva, M.F., Dillmann, R. (eds) Walking Robots into Real World. CLAWAR 2024. Lecture Notes in Networks and Systems, vol 1114. Springer, Cham. https://doi.org/10.1007/978-3-031-70722-3_24

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