{"title":"基于保形几何代数的仿人机器人反运动学优化代码生成","authors":"Joachim Pitt, D. Hildenbrand, M. Stelzer, A. Koch","doi":"10.1109/ICHR.2008.4756025","DOIUrl":null,"url":null,"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.","PeriodicalId":402020,"journal":{"name":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","volume":"60 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"14","resultStr":"{\"title\":\"Inverse kinematics of a humanoid robot based on conformal geometric algebra using optimized code generation\",\"authors\":\"Joachim Pitt, D. Hildenbrand, M. Stelzer, A. Koch\",\"doi\":\"10.1109/ICHR.2008.4756025\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":402020,\"journal\":{\"name\":\"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots\",\"volume\":\"60 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"14\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICHR.2008.4756025\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICHR.2008.4756025","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Inverse kinematics of a humanoid robot based on conformal geometric algebra using optimized code generation
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.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
