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Evolutionary motion inverse kinematics

2007 IEEE Congress on Evolutionary Computation, 2007
In disciplines, such as robotics and computer graphics (CG) or industries such as, game development, various tasks involve the manipulation of articulated structures in interesting and complex ways. This may involve controlling robotic manipulators or perhaps posing the skeleton of a virtual human.
Millard, John Terence, John Millard
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Learning inverse kinematics

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2002
Real-time control of the end-effector of a humanoid robot in external coordinates requires computationally efficient solutions of the inverse kinematics problem. In this context, this paper investigates inverse kinematics learning for resolved motion rate control (RMRC) employing an optimization criterion to resolve kinematic redundancies. Our learning
Aaron D'Souza, Sethu Vijayakumar, Stefan Schaal   +2 more
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The Inverse Kinematic Problems

2017
The problem of recovering the sound speed (or index of refraction) from travel time measurements is an important issue in determining the substructure of the Earth.
Alemdar Hasanov Hasanoğlu, Vladimir G. Romanov   +1 more
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Inverse kinematics for control of JINPOONG

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2013
JINPOONG is a platform that has been developed in order to move an uneven terrain as quadrupeds. Each leg was designed to have 4 degrees of freedom to utilize a broad workspace. A solution of inverse kinematics of this system was found out using the closed form solution, considering motion control of JINPOONG.
Jin Tak Kim, Jung-San Cho, Byung-Yun Park, Sangdeok Park   +3 more
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On the Inverse Kinematics of Redundant Manipulators

The International Journal of Robotics Research, 1988
Many conventional nonredundant manipulators have singu lar configurations, near which some small motions of the end-effector require excessive and physically unrealizable joint speeds. Consequently, the usable workspace of the ma nipulator is effectively reduced.
Daniel R. Baker, Charles W. Wampler II
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Inverse kinematics for a multifingered hand

Proceedings. 1988 IEEE International Conference on Robotics and Automation, 2003
One aspects of the control of multifingered hands is discussed, nearly inverse kinematics. For a serial-link manipulator with a multifingered hand attached to its distal link, the inverse kinematics of the hand and of the manipulator can be treated separately. The inverse kinematic solution for a three-fingered, nine-degree-of-freedom hand is described.
Tom Koehler, Max Donath
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On the solution to the inverse kinematic problem

Proceedings., IEEE International Conference on Robotics and Automation, 2002
A nonalgorithmic method is presented for the solution to the inverse kinematic problem of a robot. The method is robot independent and involves a hybrid approach whereby a neural solution is augmented with an iterative procedure which provides the final solution within some specified tolerance.
Ziauddin Ahmad, Allon Guez
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Inverse kinematics of calibrated robots

Journal of Robotic Systems, 1990
AbstractThis article presents a new approach for solving the inverse kinematics of calibrated industrial robots. The presented method solves this type of inverse kinematics problem, which has no analytical (explicit) solution, by iteratively employing Pieper's solution for inverse manipulator kinematics.
Zhiming Ji, Ming C. Leu
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An inverse kinematic solution for kinematically redundant robot manipulators

Journal of Robotic Systems, 1984
AbstractAn inverse kinematic analysis addresses the problem of computing the sequence of joint motion from the Cartesian motion of an interested member, most often the end effector. Although the rates and accelerations are related linearly through the Jacobian, the positions go through a highly nonlinear transformation from one space to another. Hence,
Se-Young Oh, David E. Orin, Michael Bach
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A SOLUTION TO THE GENERALIZED INVERSE KINEMATIC PROBLEM

IFAC Proceedings Volumes, 1991
Abstract In this paper we deal with the inverse kinematic problems. The first contribution of the paper is the definition, in a formal framework, of some problems related to the inverse kinematics, which are already present in the literature. The second and the main contribution consists in the solution of such problems by means of state observers ...
S. Nicosia, A. Tornambè, VALIGI, Paolo
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