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Singularity-Tolerant Inverse Kinematics for Bipedal Robots: An Efficient Use of Computational Power to Reduce Energy Consumption
2017
IEEE Robotics and Automation Letters
We propose a nonlinear inverse kinematics formulation which solves for positions directly. Compared to various other popular methods that integrate velocities, this formulation can better handle fast, asymmetric and singular-postured balancing tasks for humanoid robots. We also introduce joint position and velocity boundaries as inequality constraints in the optimization to ensure feasibility. Such boundaries provide safety when approaching or getting away from joint limits or singularities.
doi:10.1109/lra.2017.2661810
dblp:journals/ral/FarajiI17
fatcat:gkrn3hsuifbarkio62izbnrruy