Inverse Kinematics of a Humanoid Robot based on Conformal Geometric Algebra using optimized Code Generation

被引：0
|
作者：
Pitt, Joachim [1 ]
Hildenbrand, Dietmar [1 ]
Stelzer, Maximilian [1 ]
Koch, Andreas [1 ]
机构：
[1] Tech Univ Darmstadt, Darmstadt, Germany
来源：
2008 8TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS 2008) | 2008年
关键词：
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a solution to solve the inverse kinematics for the legs of a humanoid robot using conformal geometric algebra. We geometrically intuitively develop the algorithm with the freely available CLUCalc software and optimize it with the help of the computer algebra system Maple and the Clifford package for geometric algebras. We describe our Gaalop code generator which produces executable C code with just elementary expressions leading to a very efficient implementation.
引用
收藏
页码：669 / 674
页数：6
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