In October 2012, the humanoid robot HRP-2 was presented during a live demonstration performing fine-balanced dance movements with a human performer in front of more than 1000 people. This success was possible by the systematic use of operational-space inverse dynamics to compute dynamically consistent movements following a motion capture pattern demonstrated by a human choreographer. The first ...

We study Jacobian inverse kinematics algorithms for mobile manipulators composed of a nonholonomic mobile platform and a holonomic onboard manipulator. In general, the Jacobian algorithms converge locally, often producing weird end effector and platform trajectories. In the paper we use the existing theory of Newton algorithms in order to improve the quality of convergence of the Jacobian algor...

This paper proposes example guided inverse kinematics (EGIK) which extends and enhances existing inverse kinematics technique. In conventional inverse kinematics, redundancy in the model produces an infinite number of solutions. The motion could be jerky depending on the choice of solutions at each frame. EGIK exploits the redundancy for imitating an example motion (a pre-measured motion data) ...

In this project I describe the status of inverse kinematics research, with the focus firmly on the methods that solve the core problem. An overview of the different methods are presented Three common methods used in inverse kinematics computation have been chosen as subject for closer inspection. The three methods are described in some detail. An analysis is performed where the three methods ar...

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

In this project I describe the status of inverse kinematics research, with the focus firmly on the methods that solve the core problem. An overview of the different methods are presented Three common methods used in inverse kinematics computation have been chosen as subject for closer inspection. The three methods are described in some detail. An analysis is performed where the three methods ar...

Matrix relations in kinematics and dynamics of the Star parallel manipulator are established in this paper. The prototype of the manipulator is a three-degree-of-freedom mechanism, which consists of a system of parallel kinematical chains connecting to a moving platform. Knowing the translation motion of the platform, we develop first the inverse kinematics problem and determine the position, v...

This paper presents a fast numerical solution for the inverse kinematics of a serial manipulator. The method is implemented on the C-Arm, a manipulator designed for use in robotic surgery. The inverse kinematics solution provides all possible solutions for any six degree-of-freedom serial manipulator, assuming the forward kinematics are known and that it is possible to solve for the remaining j...

Inverse kinematics solutions of a reconfigurabie robot system built upon a collection of standardized components is dificult to obtain because of its varying configuration. This paper addresses the formulation of a generic numerical inverse kinematics model and automatic generation of the model for arbitrary robot geometry including serial type and branching type geometry. Both revolute and pri...

A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also develo...