Solving Inverse Kinematics with Vector Evaluated Particle Swarm Optimization

被引：0
|
作者：
Riekert, Zuhnja [1 ]
Helbig, Marde [1 ]
机构：
[1] Univ Pretoria, Pretoria, South Africa
来源：
ADVANCES IN SWARM INTELLIGENCE, ICSI 2017, PT I | 2017年 / 10385卷
关键词：
D O I：
10.1007/978-3-319-61824-1_25
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Inverse kinematics (IK) is an optimization problem solving the path or trajectory a multi-jointed body should take for an extremity to reach a specified target location. When also considering the flow of movement, IK becomes a multi-objective optimization problem (MOP). This study proposes the use of the vector evaluated particle swarm optimization (VEPSO) algorithm to solve IK. A 3D character arm, with 7 degrees of freedom, is used during experimentation. VEPSO's results are compared to single-objective optimizers, as well as an optimizer that uses weighted aggregation to solve MOPs. Results show that the weighted aggregation approach can outperform IK-VEPSO if the correct weight combination (that is problem dependent) has been selected. However, IK-VEPSO produces a set of possible solutions.
引用
收藏
页码：225 / 237
页数：13
相关论文
共 50 条
  • [21] Inverse Kinematics Using Single-and Multi-Objective Particle Swarm Optimization
    Adly, M. A.
    Abd-El-Hafiz, S. K.
    2016 28TH INTERNATIONAL CONFERENCE ON MICROELECTRONICS (ICM 2016), 2016, : 269 - 272
  • [22] Inverse Kinematics for Serial Robot Manipulators by Particle Swarm Optimization and POSIX Threads Implementation
    Danaci, Hasan
    Nguyen, Luong A.
    Harman, Thomas L.
    Pagan, Miguel
    APPLIED SCIENCES-BASEL, 2023, 13 (07):
  • [23] Inverse kinematics of mobile manipulator using bidirectional particle swarm optimization by manipulator decoupling
    Ram, R., V
    Pathak, P. M.
    Junco, S. J.
    MECHANISM AND MACHINE THEORY, 2019, 131 : 385 - 405
  • [24] Vector Evaluated Particle Swarm Optimization Exploration Behavior Part II: Quantitative Analysis
    Scheepers, Christiaan
    Engelbrecht, Andries P.
    2016 IEEE CONGRESS ON EVOLUTIONARY COMPUTATION (CEC), 2016, : 1855 - 1861
  • [25] Vector Evaluated Particle Swarm Optimization Exploration Behavior Part I: Explorative Analysis
    Scheepers, Christiaan
    Engelbrecht, Andries P.
    2016 IEEE CONGRESS ON EVOLUTIONARY COMPUTATION (CEC), 2016, : 1845 - 1854
  • [26] Vector Evaluated Particle Swarm Optimization (VEPSO) of Supersonic Ejector for Hydrogen Fuel Cells
    Rao, Srisha M., V
    Jagadeesh, G.
    JOURNAL OF FUEL CELL SCIENCE AND TECHNOLOGY, 2010, 7 (04): : 0410141 - 0410147
  • [27] Particle Swarm Optimization and Inverse Problems
    Garcia-Gonzalo, Esperanza
    Luis Fernandez-Martinez, Juan
    COMBINING SOFT COMPUTING AND STATISTICAL METHODS IN DATA ANALYSIS, 2010, 77 : 289 - 296
  • [28] Vector evaluated particle swarm optimization (VEPSO) for multi-objective design optimization of composite structures
    Omkar, S. N.
    Mudigere, Dheevatsa
    Naik, G. Narayana
    Gopalakrishnan, S.
    COMPUTERS & STRUCTURES, 2008, 86 (1-2) : 1 - 14
  • [29] Vector evaluated adaptive particle swarm optimization algorithm for multi-objective reactive power optimization
    School of Information Science and Engineering, Northeastern University, Shenyang 110004, China
    不详
    Zhongguo Dianji Gongcheng Xuebao, 2008, 31 (22-28):
  • [30] Co-operative Vector-Evaluated Particle Swarm Optimization for Multi-objective Optimization
    Maltese, Justin
    Ombuki-Berman, Beatrice M.
    Engelbrecht, Andries. P.
    2015 IEEE SYMPOSIUM SERIES ON COMPUTATIONAL INTELLIGENCE (IEEE SSCI), 2015, : 1294 - 1301
12345