IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Study on Sparse Hierarchical Inverse Kinematics Algorithms for Humanoid Robots

Author(s): Enrico Mingo Hoffman ; Matteo Parigi Polverini ; Arturo Laurenzi ; Nikos Tsagarakis
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Volume: PP
Page(s): 1
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2954820
Regular:

In humanoid robotic platforms, classical inverse kinematics algorithms based on L2-regularisation of joint velocities or accelerations, tends to engage the motion of all the available degrees of... View More

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