Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Conferences, Workshops, Symposiums, and Seminars
  4. A singularity-tolerant inverse kinematics including joint position and velocity limitations
 
conference poster not in proceedings

A singularity-tolerant inverse kinematics including joint position and velocity limitations

Faraji, Salman  
•
Ijspeert, Auke  
2017
Dynamic Walking

Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to operate with crouched knees, since the Center of Mass (CoM) height can be directly manipulated. In addition to a higher energy consumption however, this brings long-term damage to the actuator and series elastic elements. We propose a simple Inverse Kinematics (IK) formulation as a nonlinear optimization that can handle singularities and joint limits with inequality constraints. We also introduce safe regions for joint velocities and propose modifications that help the joint come out of singularities faster. The effectiveness of the proposed method is verified in simulations and on the real hardware for various balancing tasks.

  • Files
  • Details
  • Metrics
Type
conference poster not in proceedings
Author(s)
Faraji, Salman  
Ijspeert, Auke  
Date Issued

2017

Subjects

Inverse Kinematics

•

Singularity

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
BIOROB  
Event nameEvent placeEvent date
Dynamic Walking

Mariehamn, Finland

June 4-9, 2017

Available on Infoscience
June 11, 2017
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/138202
Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés