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  4. Inverse kinematics of a humanoid robot based on conformal geometric algebra using optimized code generation
 
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2008
Conference Paper
Title

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

Abstract
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.
Author(s)
Pitt, Joachim
TU Darmstadt GRIS
Hildenbrand, Dietmar
TU Darmstadt GRIS
Stelzer, Maximilian
TU Darmstadt
Koch, Andreas
TU Darmstadt
Mainwork
HUMANOIDS 2008, 8th IEEE-RAS International Conference on Humanoid Robots. CD-ROM  
Conference
International Conference on Humanoid Robots (HUMANOIDS) 2008  
Language
English
Fraunhofer-Institut für Graphische Datenverarbeitung IGD  
Keyword(s)
  • geometric algebra

  • inverse kinematic

  • performance

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