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Inverse kinematics of a humanoid robot based on conformal geometric algebra using optimized code generation

: Pitt, Joachim; Hildenbrand, Dietmar; Stelzer, Maximilian; Koch, Andreas

IEEE Robotics and Automation Society; Institute of Control, Robotics and Systems -ICROS-:
HUMANOIDS 2008, 8th IEEE-RAS International Conference on Humanoid Robots. CD-ROM : December 1-3, 2006; Hotel Riviera, Daejeon, Korea
Los Alamitos/Calif.: IEEE Computer Society, 2008
ISBN: 978-1-4244-2822-9
International Conference on Humanoid Robots (HUMANOIDS) <8, 2008, Daejeon>
Conference Paper
Fraunhofer IGD ()
geometric algebra; inverse kinematic; performance

This paper presents a solution to solve the inverse kinematics for the legs of a humanoid robot using conformal geometric algebra. We geometrically intuitively develop the algorithm with the freely available CLUCalc software and optimize it with the help of the computer algebra system Maple and the Clifford package for geometric algebras. We describe our Gaalop code generator which produces executable C code with just elementary expressions leading to a very efficient implementation.