Solvability-unconcerned inverse kinematics based on Levenberg-Marquardt method with robust damping

9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09

Volumn , Issue , 2009, Pages 555-560

  Sugihara, Tomomichi ^a  

^a KYUSHU UNIVERSITY   (Japan)

Author keywords

Humanoid robot; Inverse kinematics; Levenberg Marquardt method; Numerical robustness

Indexed keywords

COMPUTATION SPEED; CONVERGENCE PERFORMANCE; DAMPING FACTORS; HUMANOID ROBOT; KINEMATIC CHAIN; LARGE-SCALE STRUCTURE; LEVENBERG-MARQUARDT METHOD; NUMERICAL SOLUTION; NUMERICAL STABILITIES; OPTIMUM SOLUTION; ROBOT OPERATORS; TARGET POINT; WALKING MOTION;

ANTHROPOMORPHIC ROBOTS; DAMPING; EQUATIONS OF MOTION; INVERSE KINEMATICS; MATHEMATICAL OPERATORS; NUMERICAL ANALYSIS;

CONVERGENCE OF NUMERICAL METHODS;

EID: 77950586595     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2009.5379515     Document Type: Conference Paper

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