Fast resolution of hierarchized inverse kinematics with inequality constraints

@article{Escande2010FastRO,
  title={Fast resolution of hierarchized inverse kinematics with inequality constraints},
  author={Adrien Escande and Nicolas Mansard and Pierre-Brice Wieber},
  journal={2010 IEEE International Conference on Robotics and Automation},
  year={2010},
  pages={3733-3738}
}
Classically, the inverse kinematics is performed by computing the singular value decomposition of the matrix to invert. This enables a very simple writing of the algorithm. However, the computation cost is high, especially when applied to complex robots and complex sets of constraints (typically around 5ms for 50 degrees of freedom - DOF). In this paper, we propose a dedicated adaptation of quadratic programming that enables fast computations of the hierarchical inverse kinematics (around 0.1ms… CONTINUE READING
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