TRAC-IK: An open-source library for improved solving of generic inverse kinematics

IEEE-RAS International Conference on Humanoid Robots

Volumn 2015-December, Issue , 2015, Pages 928-935

  Beeson, Patrick ^a   Ames, Barrett ^a  

^a NONE

Author keywords

Heuristic algorithms; Jacobian matrices; Kinematics; Measurement; Optimization; Quaternions; Robots

Indexed keywords

ANTHROPOMORPHIC ROBOTS; CHAINS; HEURISTIC ALGORITHMS; INVERSE KINEMATICS; JACOBIAN MATRICES; KINEMATICS; MEASUREMENTS; OPEN SOURCE SOFTWARE; OPTIMIZATION; QUADRATIC PROGRAMMING; ROBOTS;

COMBINED ALGORITHMS; FALSE NEGATIVES; KINEMATICS AND DYNAMICS; OPEN-SOURCE LIBRARIES; QUADRATIC ERROR METRICS; QUANTITATIVE COMPARISON; QUATERNIONS; SEQUENTIAL QUADRATIC PROGRAMMING;

ALGORITHMS;

EID: 84962230726     PISSN: 21640572     EISSN: 21640580     Source Type: Conference Proceeding    
DOI: 10.1109/HUMANOIDS.2015.7363472     Document Type: Conference Paper

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