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

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4 Author(s)
Joachim Pitt ; Faculty of Interactive Graphics Systems Group, Technische Universität Darmstadt (University of Technology Darmstadt), Germany ; Dietmar Hildenbrand ; Maximilian Stelzer ; Andreas Koch

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.

Published in:

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots

Date of Conference:

1-3 Dec. 2008