Inverse kinematics of a humanoid robot based on conformal geometric algebra using optimized code generation.
Joachim PittDietmar HildenbrandMaximilian StelzerAndreas KochPublished in: Humanoids (2008)
Keyphrases
- humanoid robot
- inverse kinematics
- motion planning
- code generation
- conformal geometric algebra
- robot arm
- application development
- software development
- multi modal
- end effector
- modeling language
- software reuse
- rapid prototyping
- position and orientation
- robot manipulators
- formal specification
- model driven
- motion capture
- pose estimation
- joint angles
- rigid body motion
- design patterns
- control law
- human motion
- geometric algebra
- reinforcement learning
- real robot
- degrees of freedom
- path planning
- data driven
- volumetric data
- end users
- viewpoint