Anthropomorphic robotics hand inverse kinematics using estimated SVD in an extended SDLS approach

Bensalah, Choukri; Gonzalez-Quijano, Javier; Hendrich, Norman; Abderrahim, Mohamed

doi:10.1109/icar.2013.6766595

Cited by 3 publications

(3 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Bensalah et al . [BGQHA13] has recently extended the SDLS method for the calculation of the IK of anthropomorphic robotic hands. They attempt to reduce the high cost of the original method, which arises from computing the SVD of the extended Jacobian matrix, by computing only the relevant smallest singular values and corresponding vectors.…”

Section: Numerical Solutionsmentioning

confidence: 99%

“…Buss and Kim [BK05] showed that it performs better than any other inverse Jacobian method, with its drawback being that it has high computational cost (it has the slowest performance time among all Jacobian methods) due to the SVD computation. Bensalah et al [BGQHA13] has recently extended the SDLS method for the calculation of the IK of anthropomorphic robotic hands. They attempt to reduce the high cost of the original method, which arises from computing the SVD of the extended Jacobian matrix, by computing only the relevant smallest singular values and corresponding vectors.…”

Section: Selectively Damped Least Squaresmentioning

confidence: 99%

See 1 more Smart Citation

Inverse Kinematics Techniques in Computer Graphics: A Survey

Aristidou

Lasenby

Chrysanthou

et al. 2017

Computer Graphics Forum

194

103

View full text Add to dashboard Cite

Inverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of a manipulator so that the end effector moves to a desired position; IK can be applied in many areas, including robotics, engineering, computer graphics and video games. In this survey, we present a comprehensive review of the IK problem and the solutions developed over the years from the computer graphics point of view. The paper starts with the definition of forward and IK, their mathematical formulations and explains how to distinguish the unsolvable cases, indicating when a solution is available. The IK literature in this report is divided into four main categories: the analytical, the numerical, the data‐driven and the hybrid methods. A timeline illustrating key methods is presented, explaining how the IK approaches have progressed over the years. The most popular IK methods are discussed with regard to their performance, computational cost and the smoothness of their resulting postures, while we suggest which IK family of solvers is best suited for particular problems. Finally, we indicate the limitations of the current IK methodologies and propose future research directions.

show abstract

Section: Numerical Solutionsmentioning

confidence: 99%

Section: Selectively Damped Least Squaresmentioning

confidence: 99%

Inverse Kinematics Techniques in Computer Graphics: A Survey

Aristidou

Lasenby

Chrysanthou

et al. 2017

Computer Graphics Forum

194

103

View full text Add to dashboard Cite

show abstract

“…One class of such methods use the first-order Taylor approximation of the problem and attempt to solve a linear system characterised by the Jacobian matrix. Alternatives are the Moore-Penrose pseudoinverse method, the Jacobian transpose method (equivalent to gradient descent for least-squares error), the Levenberg-Marquardt method (equivalent to gradient descent for damped least-squares error), and other variants [6,10,14,20]. Second-order methods also exist, but such approaches require the computation of the Hessian of the forward kinematics function, which incur higher computational cost.…”

Section: Related Workmentioning

confidence: 99%

Convex Optimisation for Inverse Kinematics

Yenamandra

Bernard

Wang

et al. 2019

2019 International Conference on 3D Vision (3DV)

View full text Add to dashboard Cite

We consider the problem of inverse kinematics (IK), where one wants to find the parameters of a given kinematic skeleton that best explain a set of observed 3D joint locations. The kinematic skeleton has a tree structure, where each node is a joint that has an associated geometric transformation that is propagated to all its child nodes. The IK problem has various applications in vision and graphics, for example for tracking or reconstructing articulated objects, such as human hands or bodies. Most commonly, the IK problem is tackled using local optimisation methods. A major downside of these approaches is that, due to the nonconvex nature of the problem, such methods are prone to converge to unwanted local optima and therefore require a good initialisation. In this paper we propose a convex optimisation approach for the IK problem based on semidefinite programming, which admits a polynomial-time algorithm that globally solves (a relaxation of) the IK problem. Experimentally, we demonstrate that the proposed method significantly outperforms local optimisation methods using different real-world skeletons.

show abstract

A Workspace-Analysis-Based Genetic Algorithm for Solving Inverse Kinematics of a Multi-Fingered Anthropomorphic Hand

Lee

Chang

2021

Applied Sciences

View full text Add to dashboard Cite

Although the solution of inverse kinematics for a serial redundant manipulator has been widely researched, many algorithms still seem limited in dealing with complex geometries, including multi-finger anthropomorphic hands. In this paper, the inverse kinematic problems of multiple fingers are an aggregate problem when the target points of fingers are given. The fingers are concatenated to the same wrist and the objective is to find a solution for the wrist and two fingers simultaneously. To achieve this goal, a modified immigration genetic algorithm based on workspace analysis is developed and validated. To reduce unnecessary computation of the immigration genetic algorithm, which arises from an inappropriate inverse kinematic request, a database of the two fingers’ workspace is generated using the Monte Carlo method to examine the feasibility of inverse kinematic request. Furthermore, the estimation algorithm provides an optimal set of wrist angles for the immigration genetic algorithm to complete the remaining computation. The results reveal that the algorithm can be terminated immediately even when the inverse kinematic request is out of the workspace. In addition, a distribution of population in each generation illustrates that the optimized wrist angles provide a better initial condition, which significantly improves the convergence of the immigration genetic algorithm.

show abstract

Anthropomorphic robotics hand inverse kinematics using estimated SVD in an extended SDLS approach

Cited by 3 publications

References 11 publications

Inverse Kinematics Techniques in Computer Graphics: A Survey

Inverse Kinematics Techniques in Computer Graphics: A Survey

Convex Optimisation for Inverse Kinematics

A Workspace-Analysis-Based Genetic Algorithm for Solving Inverse Kinematics of a Multi-Fingered Anthropomorphic Hand

Contact Info

Product

Resources

About