5 papers · 1 filter
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
Chuizheng Kong, Yunho Cho, Wonsuhk Jung +11
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undes…
Redundancy Parameterization of the ABB YuMi Robot Arm
Alexander J. Elias, John T. Wen
The ABB YuMi is a 7-DOF collaborative robot arm with a complex, redundant kinematic structure. Path planning for the YuMi is challenging, especially with joint limits considered. T…
Path Planning and Optimization for Cuspidal 6R Manipulators
Alexander J. Elias, John T. Wen
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautifu…
Redundancy parameterization and inverse kinematics of 7-DOF revolute manipulators
Alexander J. Elias, John T. Wen
Seven degree-of-freedom (DOF) robot arms have one redundant DOF which does not change the motion of the end effector. The redundant DOF offers greater manipulability of the arm con…
IK-Geo: Unified Robot Inverse Kinematics Using Subproblem Decomposition
Alexander J. Elias, John T. Wen
This paper presents the open-source robot inverse kinematics (IK) solver IK-Geo, the fastest general IK solver based on published literature. In this unifying approach, IK for any…