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Title of Journal: Adv Appl Clifford Algebras

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Abbravation: Advances in Applied Clifford Algebras

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Springer International Publishing

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DOI

10.1007/s00038-007-0231-4

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1661-4909

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Inverse Kinematics for a 6DOF Walking Humanoid Ro

Authors: L CamposMacías O CarbajalEspinosa A Loukianov E BayroCorrochano
Publish Date: 2016/07/13
Volume: 27, Issue: 1, Pages: 581-597
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Abstract

This paper describes a novel method for solving the inverse kinematics of a humanoid robot leg anthropomorphically configured with 6 degrees of freedom using conformal geometric algebra We have used different geometric entities such as lines planes and spheres in order to achieve the desired position and orientation of the body and the foot individually reconfiguring the amount of rotation for each joint The proposed method can be used in a future work to design obstacle avoidance and self collision algorithms The effectiveness of the proposed algorithm is proved via practical experiments Results indicate that the proposed algorithm achieves the expected behavior

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Other Papers In This Journal:
  1. Twistors in Geometric Algebra
  2. On Polynomial Solutions of Generalized Moisil-Théodoresco Systems and Hodge-de Rham Systems
  3. Geometric Algebra to Model Uncertainties in the Discretizable Molecular Distance Geometry Problem
  4. Half Dirichlet Problems and Decompositions of Poisson Kernels
  5. Differential Operators Associated to the Cauchy-Fueter Operator in Quaternion Algebra
  6. Properties of Solutions to A-Harmonic System and A-Dirac System
  7. Matrix Mechanics of the Relativistic Point Particle and String in Clifford Space
  8. Harmonic Forms on Conformal Euclidean Manifolds: The Clifford Multivector Approach
  9. Two Novel Algebraic Techniques for Quaternion Least Squares Problems in Quaternionic Quantum Mechanics
  10. Operator Identities in q -Deformed Clifford Analysis
  11. (1,1)-Forms Acting on Spinors on Kähler Surfaces
  12. Multiplicative Representation of a Hyperbolic non Distributive Algebra
  13. An Efficient Method for Solving Equations in Generalized Quaternion and Octonion Algebras
  14. On the Quaternionic B 2 -Slant Helices in the Euclidean Space E 4
  15. The octonions form an Azumaya algebra in certain braided linear Gr-categories
  16. On the Geometry of the Hyperbolic Scator Space in 1+2 Dimensions
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