@inproceedings{094e68aa114b4e4aaae717519a6f0151,
title = "An IK Heuristic Method for WheelTracked Humanoid Robots with Omnidirectional Mobile Base",
abstract = "Due to the high redundancy of robots, it is complex and challenging to solve the inverse kinematics. This paper presents a heuristic algorithm for inverse kinematics of wheel-tracked humanoid robots with an omnidirectional moving base in 3D. This new method changes the pedestal pose, including improved obstacle avoidance strategy. The presented method is illustrated by simulation considering LABOR, whose waist is regarded as an omnidirectional mobile base. The results of the simulation proved that it has the advantages of simpler implementation, faster convergence, and lower computational cost than the Jacobian matrix transformation method, reducing the number of iterations by about 92%. At the same time, it increases manipulability and allows real-time application.",
keywords = "Heuristic Algorithm, Inverse Kinematics, Omnidirectional Moving Base",
author = "Chuan Yu and Qinhu Chen and Zeming Fan and Meilin Kang and Yixin Wang and Yanqiang Wang and Xiaojun Yu",
note = "Publisher Copyright: {\textcopyright} 2024 The Authors.; 2nd International Conference on Intelligent Equipment and Special Robots, ICIESR 2023 ; Conference date: 20-10-2023 Through 22-10-2023",
year = "2024",
month = apr,
day = "30",
doi = "10.3233/ATDE240258",
language = "英语",
series = "Advances in Transdisciplinary Engineering",
publisher = "IOS Press BV",
pages = "313--319",
editor = "Qiang Zhang",
booktitle = "Moving Integrated Product Development to Service Clouds in the Global Economy - Proceedings of the 21st ISPE Inc. International Conference on Concurrent Engineering, CE 2014",
}