Volltext-Downloads (blau) und Frontdoor-Views (grau)

Hybrid Inverse Kinematics for a 7-DOF Manipulator Handling Joint Limits and Workspace Constraints

  • A manipulator with a human-like range of motion combined with adequate control strategies can increase the autonomy of humanoid robots. If we look at the motion patterns of human beings during manipulation, we see that they often combine trunk and manipulator motion to grasp objects lying outside the workspace of the manipulator itself. In this work, we introduce an approach for a hybrid inverseA manipulator with a human-like range of motion combined with adequate control strategies can increase the autonomy of humanoid robots. If we look at the motion patterns of human beings during manipulation, we see that they often combine trunk and manipulator motion to grasp objects lying outside the workspace of the manipulator itself. In this work, we introduce an approach for a hybrid inverse kinematics algorithm with a focus on avoiding joint and workspace limitations. We combine a fully analytical inverse kinematics algorithm for a redundant 7-DOF manipulator with the inverse kinematics of the robot’s trunk. To handle the workspace limitations, if a desired pose lies outside the workspace, we combine the robot’s trunk motion with the manipulator motion. We demonstrate the performance of our approach with the humanoid robot Sweaty, playing fully autonomously a chess game against a human while picking up chess pieces lying outside the workspace of its manipulator by a combined trunk and manipulator motion.show moreshow less

Export metadata

Additional Services

Search Google Scholar

Statistics

frontdoor_oas
Metadaten
Document Type:Conference Proceeding
Conference Type:Konferenzartikel
Zitierlink: https://opus.hs-offenburg.de/8729
Bibliografische Angaben
Title (English):Hybrid Inverse Kinematics for a 7-DOF Manipulator Handling Joint Limits and Workspace Constraints
Conference:RoboCup 2023, July 4 to 10, 2023, Bordeaux, Frankreich
Author:Maximilian GießlerStaff MemberORCiDGND, Bernd WaltersbergerStaff MemberGND
Edition:1.
Year of Publication:2024
Date of first Publication:2024/03/14
Place of publication:Cham
Publisher:Springer
First Page:105
Last Page:116
Parent Title (English):RoboCup 2023: Robot World Cup XXVI
Editor:Cédric Buche, Alessandra Rossi, Marco Simões, Ubbo Visser
Volume:LNCS 14140
ISBN:978-3-031-55014-0 (Print)
ISBN:978-3-031-55015-7 (Online)
ISSN:0302-9743 (Print)
ISSN:1611-3349 (Elektronisch)
DOI:https://doi.org/10.1007/978-3-031-55015-7_9
Language:English
Inhaltliche Informationen
Institutes:Fakultät Maschinenbau und Verfahrenstechnik (M+V)
Institutes:Bibliografie
Projekte / Sweaty
Tag:7-DOF manipulator; Humanoid Robot; Hybrid inverse kinematics; Joint limit avoidance; Workspace constraints avoidance
Formale Angaben
Relevance:Konferenzbeitrag: h5-Index < 30
Open Access: Closed 
Licence (German):License LogoUrheberrechtlich geschützt