Pub Date : 2007-12-01DOI: 10.1109/ARSO.2007.4531427
Chen Chwan-Hsen, Yung-Pyng Chan
We have developed a monocular SLAM method which uses the scale-invariant feature transform (SIFT) algorithm to detect salient features within the scene. Only feature points with large scales are considered as worth-tracking features to reduce the computation load and enhance the robustness. These feature information are input to an extended Kalman filter with the spatial coordinates of the feature points and that of the observing camera as its state variables. The angular and translational velocity and acceleration of the camera are also included as the state variables. Compared to previous approaches, we use the reciprocal of the depth, instead of the depth itself, as the state variable, together with other state variables, in the extended Kalman filter to represent the relative distance between the camera and the feature points. The extended Kalman filter can accurately estimate the spatial location of the feature points and that of the camera with only one camera after a very short period for those feature points experiencing significant change in parallax. We have tested the proposed method with a hand-held camera walking in both indoor and outdoor environment. The outdoor environment for the experiment is populated with both close and distant objects. The results show very accurate estimates on the spatial locations of the camera and feature points within seconds.
{"title":"SIFT-based monocluar SLAM with inverse depth parameterization for robot localization","authors":"Chen Chwan-Hsen, Yung-Pyng Chan","doi":"10.1109/ARSO.2007.4531427","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531427","url":null,"abstract":"We have developed a monocular SLAM method which uses the scale-invariant feature transform (SIFT) algorithm to detect salient features within the scene. Only feature points with large scales are considered as worth-tracking features to reduce the computation load and enhance the robustness. These feature information are input to an extended Kalman filter with the spatial coordinates of the feature points and that of the observing camera as its state variables. The angular and translational velocity and acceleration of the camera are also included as the state variables. Compared to previous approaches, we use the reciprocal of the depth, instead of the depth itself, as the state variable, together with other state variables, in the extended Kalman filter to represent the relative distance between the camera and the feature points. The extended Kalman filter can accurately estimate the spatial location of the feature points and that of the camera with only one camera after a very short period for those feature points experiencing significant change in parallax. We have tested the proposed method with a hand-held camera walking in both indoor and outdoor environment. The outdoor environment for the experiment is populated with both close and distant objects. The results show very accurate estimates on the spatial locations of the camera and feature points within seconds.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"43 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123099266","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-12-01DOI: 10.1109/ARSO.2007.4531430
An-Ping Wang, P. Hsu
With the "education in entrainment" concept, this research develops critical parts and technologies of the edutainment robot. With proper specifications and interface integrations, the distributed-control application environment of a biped humanoid robot is successfully established. Developed parts of this robot are: (1) humanoid robot mechanism (2) intelligent network-based joint servo actuator (3) MCU-based robot controller (4) ZigBee wireless networking module (5) PC-based virtual-reality robot software user interface. Besides, three enhancements of the distributed control protocol are developed to further increase the agility of the robot operation. With these results, the technology and cost barriers to develop a fully distributed humanoid robot with both distributed mechanical and control modules are no more unattainable.
{"title":"The modular design of the distributed edutainment biped humanoid robot system","authors":"An-Ping Wang, P. Hsu","doi":"10.1109/ARSO.2007.4531430","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531430","url":null,"abstract":"With the \"education in entrainment\" concept, this research develops critical parts and technologies of the edutainment robot. With proper specifications and interface integrations, the distributed-control application environment of a biped humanoid robot is successfully established. Developed parts of this robot are: (1) humanoid robot mechanism (2) intelligent network-based joint servo actuator (3) MCU-based robot controller (4) ZigBee wireless networking module (5) PC-based virtual-reality robot software user interface. Besides, three enhancements of the distributed control protocol are developed to further increase the agility of the robot operation. With these results, the technology and cost barriers to develop a fully distributed humanoid robot with both distributed mechanical and control modules are no more unattainable.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"54 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128322356","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-12-01DOI: 10.1109/ARSO.2007.4531420
S. Stan, V. Maties, R. Balan
This paper is aimed at presenting a study on the optimization of the Biglide and Bipod mini parallel robots, which comprises two-degree-of-freedom (DOF) mini parallel robots with constant and variable struts. The robot workspace is characterized and the inverse kinematics equation is obtained. In the paper, design optimization is implemented with genetic algorithms (GA) for optimization considering transmission quality index, design space and workspace. Here, intended to show the advantages of using the GA, we applied it to a multicriteria optimization problem of 2 DOF mini parallel robots. Genetic algorithms (GA) are so far generally the best and most robust kind of evolutionary algorithms. A GA has a number of advantages. It can quickly scan a vast solution set. Bad proposals do not affect the end solution negatively as they are simply discarded. The obtained results have shown that the use of GA in such kind of optimization problem enhances the quality of the optimization outcome, providing a better and more realistic support for the decision maker.
{"title":"Multi-objective genetic algorithms applied for optimal design of 2 DOF micro parallel robots","authors":"S. Stan, V. Maties, R. Balan","doi":"10.1109/ARSO.2007.4531420","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531420","url":null,"abstract":"This paper is aimed at presenting a study on the optimization of the Biglide and Bipod mini parallel robots, which comprises two-degree-of-freedom (DOF) mini parallel robots with constant and variable struts. The robot workspace is characterized and the inverse kinematics equation is obtained. In the paper, design optimization is implemented with genetic algorithms (GA) for optimization considering transmission quality index, design space and workspace. Here, intended to show the advantages of using the GA, we applied it to a multicriteria optimization problem of 2 DOF mini parallel robots. Genetic algorithms (GA) are so far generally the best and most robust kind of evolutionary algorithms. A GA has a number of advantages. It can quickly scan a vast solution set. Bad proposals do not affect the end solution negatively as they are simply discarded. The obtained results have shown that the use of GA in such kind of optimization problem enhances the quality of the optimization outcome, providing a better and more realistic support for the decision maker.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"117 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132520076","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-12-01DOI: 10.1109/ARSO.2007.4531419
S. Stan, V. Maties, R. Balan
The knowledge of the workspace of a 2 DOF mini parallel robot is very important in planning a dextrous manipulation task. In this paper, we propose an approach to compute and visualize the workspace of a 2 DOF mini parallel robot. Planar parallel robots are good candidates for microminiaturization into a microdevice. The workspace is one of the most important kinematic properties of robots, even by practical viewpoint because of its impact on robot design. A program was created in MATLAB for workspace analysis of 2 DOF parallel robots. Singular configurations are also obtained.
{"title":"Workspace analysis of the Biglide mini parallel robot with 2 DOF","authors":"S. Stan, V. Maties, R. Balan","doi":"10.1109/ARSO.2007.4531419","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531419","url":null,"abstract":"The knowledge of the workspace of a 2 DOF mini parallel robot is very important in planning a dextrous manipulation task. In this paper, we propose an approach to compute and visualize the workspace of a 2 DOF mini parallel robot. Planar parallel robots are good candidates for microminiaturization into a microdevice. The workspace is one of the most important kinematic properties of robots, even by practical viewpoint because of its impact on robot design. A program was created in MATLAB for workspace analysis of 2 DOF parallel robots. Singular configurations are also obtained.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132370475","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-12-01DOI: 10.1109/ARSO.2007.4531410
Ching-Kuo Wang, Sheng Chen, Han-Pang Huang
The cruising scope of the humanoid robot is conspicuously restrained by the heavy weight and the discharge instability of the lithium cell structure. Generally speaking, most of the key performance indices (KPI) of the state of discharge (SOD) can be satisfied by the series-connected cells with traditional gas-gauge if the current is small enough. However, the reliable cycle-lifespan would be shortened and KPI are no longer assured whenever the cell-inbalance phenomenon occurs under the heavy-duty discharge conditions. This paper is aimed to develop an inexpensive, lightweight, durable, reliable, and predictable cell-balance algorithm (ICBA) with parallel-connected circuit to stabilize the respective cells and protect the battery management system (BMS). A PC-based graphic-user interface (GUI) will be implemented to detect the on-line SOD and evaluate KPI for the existed cell-group. Finally, computer simulations and the SOD experiment with data acquisition are carefully examined and successfully demonstrated the advantages of the proposed algorithm.
{"title":"Intelligent battery management system with parallel-connected cell-balance algorithm on the humanoid robot","authors":"Ching-Kuo Wang, Sheng Chen, Han-Pang Huang","doi":"10.1109/ARSO.2007.4531410","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531410","url":null,"abstract":"The cruising scope of the humanoid robot is conspicuously restrained by the heavy weight and the discharge instability of the lithium cell structure. Generally speaking, most of the key performance indices (KPI) of the state of discharge (SOD) can be satisfied by the series-connected cells with traditional gas-gauge if the current is small enough. However, the reliable cycle-lifespan would be shortened and KPI are no longer assured whenever the cell-inbalance phenomenon occurs under the heavy-duty discharge conditions. This paper is aimed to develop an inexpensive, lightweight, durable, reliable, and predictable cell-balance algorithm (ICBA) with parallel-connected circuit to stabilize the respective cells and protect the battery management system (BMS). A PC-based graphic-user interface (GUI) will be implemented to detect the on-line SOD and evaluate KPI for the existed cell-group. Finally, computer simulations and the SOD experiment with data acquisition are carefully examined and successfully demonstrated the advantages of the proposed algorithm.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116171856","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-12-01DOI: 10.1109/ARSO.2007.4531412
S. Kim, K. Lee, V. Li, S. Choe, H. Park
On developing modern robot systems, intellectual robots can be designed as multiple modules, where the module means the autonomous hardware units performing robot specific tasks. Further, each module can be connected with non-unified network interfaces due to a heterogeneous feature of robot system. In this manner, one of technical challenges is interoperability to support stable and effective communication between heterogeneous network interfaces. Focusing on this issue, this paper proposes a middleware named HERM (heterogeneous network-based robot middleware). HERM is divided into three layers; (i) network interface layer, which abstracts various heterogeneous network interfaces as logical channels, (ii) network adaptation layer, which provides addressing strategies, module discovery, and routing service for communication between modules, and (iii) application support layer, which manages robot applications and transforms application data into a standard format for transmitting over a network. By this layered design, HERM provides standardized interfaces to control other modules over heterogeneous network interfaces and facilitates integration of different module which constitute a robot system. The results of implementation and case study show that HERM is suitable for a module-based robot.
{"title":"HERM: Heterogeneous nEtwork-based Robot Middleware","authors":"S. Kim, K. Lee, V. Li, S. Choe, H. Park","doi":"10.1109/ARSO.2007.4531412","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531412","url":null,"abstract":"On developing modern robot systems, intellectual robots can be designed as multiple modules, where the module means the autonomous hardware units performing robot specific tasks. Further, each module can be connected with non-unified network interfaces due to a heterogeneous feature of robot system. In this manner, one of technical challenges is interoperability to support stable and effective communication between heterogeneous network interfaces. Focusing on this issue, this paper proposes a middleware named HERM (heterogeneous network-based robot middleware). HERM is divided into three layers; (i) network interface layer, which abstracts various heterogeneous network interfaces as logical channels, (ii) network adaptation layer, which provides addressing strategies, module discovery, and routing service for communication between modules, and (iii) application support layer, which manages robot applications and transforms application data into a standard format for transmitting over a network. By this layered design, HERM provides standardized interfaces to control other modules over heterogeneous network interfaces and facilitates integration of different module which constitute a robot system. The results of implementation and case study show that HERM is suitable for a module-based robot.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127979043","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-12-01DOI: 10.1109/ARSO.2007.4531428
Yao-Chu Hsueh, S. Su
In this study, a self-tuning sliding controller is employed to solve the control problem for a class of SISO nonlinear control system. Such a controller is called the self- tuning saturation sliding controller (SSC) in this paper. The SSC can be viewed as an improved sliding controller which possesses both the equivalent controller characteristics and the hitting controller characteristics. Besides, in order to overcome the parameter selection problem, a self-tuning machine is proposed to reduce the difficulty of the parameter selection. Finally, we attempt to employ the proposed controller to control a two-link robot arm which is a class of MIMO control system. The results are promising.
{"title":"Self-tuning saturation sliding controller for a two-link robot arm","authors":"Yao-Chu Hsueh, S. Su","doi":"10.1109/ARSO.2007.4531428","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531428","url":null,"abstract":"In this study, a self-tuning sliding controller is employed to solve the control problem for a class of SISO nonlinear control system. Such a controller is called the self- tuning saturation sliding controller (SSC) in this paper. The SSC can be viewed as an improved sliding controller which possesses both the equivalent controller characteristics and the hitting controller characteristics. Besides, in order to overcome the parameter selection problem, a self-tuning machine is proposed to reduce the difficulty of the parameter selection. Finally, we attempt to employ the proposed controller to control a two-link robot arm which is a class of MIMO control system. The results are promising.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131631746","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The objective of this research is to construct a two-wheeled robot that can autonomously read music and sing songs with vocal voice. A musical notation editor was created so that users can easily create a hardcopy of a song and show it to the robot to have more interaction with the robot. The robot can read the music by its vision system and musical notation recognition program, and then sing the song by its voice synthesis system autonomously. The experiment results showed that the accuracy of singing the Mandarin song, a little bee, is about 95% in average, which demonstrated that the mobile robot is promising in entertainment application.
{"title":"The realization of a music reading and singing two-wheeled robot","authors":"Wei-chen Lee, H. Gu, Kuo-Liang Chung, Chyi-Yeu Lin, C. Fahn, Yah-Syun Lai, Chih-Cheng Chang, Chia-Lun Tsai, Kai-Jay Lu, Huang-Liang Liau, Mao-Kuo Hsu","doi":"10.1109/ARSO.2007.4531431","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531431","url":null,"abstract":"The objective of this research is to construct a two-wheeled robot that can autonomously read music and sing songs with vocal voice. A musical notation editor was created so that users can easily create a hardcopy of a song and show it to the robot to have more interaction with the robot. The robot can read the music by its vision system and musical notation recognition program, and then sing the song by its voice synthesis system autonomously. The experiment results showed that the accuracy of singing the Mandarin song, a little bee, is about 95% in average, which demonstrated that the mobile robot is promising in entertainment application.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"96 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133850703","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-12-01DOI: 10.1109/ARSO.2007.4531422
P. Yen, Chia-Hao Tsai
Robotic knee surgery performs bone resection without relying on mechanical jigs during bone preparation of TKA (total knee arthroplasty). The inaccuracy induced by loose jig fixation and slot width tolerance can, subsequently, be avoided. Mill is usually used as the bone cutter in most of the current knee surgical robots, in which all bones are milled out. This might not be desired. In some cases, the cut bone may be used by the surgeon for bone grafting for some patients. Therefore the existent bone resection method may not be adequate. Different scenarios of bone resection in order to preserve the cut-off bones to be in pieces should be developed. In the proposed cutting process, the side edge instead of the bottom edge of the mill is used to move and cut the bone along the designated boundary of the cutting plane. Thus cut-off bone is in the form of pieces rather than blurs or chips. However, this cutting process will give rise to large and non-uniform cut forces on the cutter. As a result, the cutter is under large bending and the cutting trajectory may be deviated or, even worse, the cutter may be broken. To overcome the problem, the paper proposed an cooperative impedance force control strategy between the robot and the surgeon to maintain the safety, stability and accuracy of bone resection process.
{"title":"Cooperative force control of a knee surgical robot for lateral milling of bone","authors":"P. Yen, Chia-Hao Tsai","doi":"10.1109/ARSO.2007.4531422","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531422","url":null,"abstract":"Robotic knee surgery performs bone resection without relying on mechanical jigs during bone preparation of TKA (total knee arthroplasty). The inaccuracy induced by loose jig fixation and slot width tolerance can, subsequently, be avoided. Mill is usually used as the bone cutter in most of the current knee surgical robots, in which all bones are milled out. This might not be desired. In some cases, the cut bone may be used by the surgeon for bone grafting for some patients. Therefore the existent bone resection method may not be adequate. Different scenarios of bone resection in order to preserve the cut-off bones to be in pieces should be developed. In the proposed cutting process, the side edge instead of the bottom edge of the mill is used to move and cut the bone along the designated boundary of the cutting plane. Thus cut-off bone is in the form of pieces rather than blurs or chips. However, this cutting process will give rise to large and non-uniform cut forces on the cutter. As a result, the cutter is under large bending and the cutting trajectory may be deviated or, even worse, the cutter may be broken. To overcome the problem, the paper proposed an cooperative impedance force control strategy between the robot and the surgeon to maintain the safety, stability and accuracy of bone resection process.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"77 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121563711","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-12-01DOI: 10.1109/ARSO.2007.4531417
Jiu-Lou Yan, Han-Pang Huang
In order to solve inverse kinematics of a multi- DOF (degree of freedom) mechanism, many methods have been proposed with the Jacobian linearization method. When solving inverse kinematics problems with this method, long computation time is needed because the Jacobian matrix should be updated in order to solve the configuration for each different end-effector trajectory knot. In this study, two smooth trajectories are generated as target positions, one for swing leg's ankle, and the other for center of mass. These generated knot points in the task space with appropriate distance to each other are used to solve inverse kinematics by the proposed modified Jacobian method-Fixed leg Jacobian. It can guarantee that only one iteration is needed to solve the configuration when it is away from singularity with a small position error (0.0712% of leg length). We propose an algorithm that can generate the gait in real time including singularity avoidance and joint limit avoidance. Simulations have been carried out. The results showed that the proposed method can generate a smooth gait for robot walking on real time implementation.
{"title":"A fast and smooth walking pattern generator of biped robot using Jacobian inverse kinematics","authors":"Jiu-Lou Yan, Han-Pang Huang","doi":"10.1109/ARSO.2007.4531417","DOIUrl":"https://doi.org/10.1109/ARSO.2007.4531417","url":null,"abstract":"In order to solve inverse kinematics of a multi- DOF (degree of freedom) mechanism, many methods have been proposed with the Jacobian linearization method. When solving inverse kinematics problems with this method, long computation time is needed because the Jacobian matrix should be updated in order to solve the configuration for each different end-effector trajectory knot. In this study, two smooth trajectories are generated as target positions, one for swing leg's ankle, and the other for center of mass. These generated knot points in the task space with appropriate distance to each other are used to solve inverse kinematics by the proposed modified Jacobian method-Fixed leg Jacobian. It can guarantee that only one iteration is needed to solve the configuration when it is away from singularity with a small position error (0.0712% of leg length). We propose an algorithm that can generate the gait in real time including singularity avoidance and joint limit avoidance. Simulations have been carried out. The results showed that the proposed method can generate a smooth gait for robot walking on real time implementation.","PeriodicalId":344670,"journal":{"name":"2007 IEEE Workshop on Advanced Robotics and Its Social Impacts","volume":"2000 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2007-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129557521","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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