In this work, we describe the implementation of an inverse kinematics (IK) routine, from the open-source Kinematics and Dynamics library, on the Atlas humanoid robot. We begin by discussing the theory behind the
In26, a comparison between the Kinematics and Dynamics Library (KDL)27 and a set of Sequential Quadratic Programming (SQP) IK algorithms was provided, and a TRAC-IK solver that runs the best performing SQP algorithm was also implemented. Human legs and quadruped robots can be considered as ...
In this work, we describe the implementation of an inverse kinematics (IK) routine, from the open-source Kinematics and Dynamics library, on the Atlas humanoid robot. We begin by discussing the theory behind the IK routine and then give details of its implementation. Results demonstrate the ...
4.2. Unconstrained Inverse Kinematics Benchmark To assess the performance of concurrent IK solvers, we first considered an unconstrained scenario (i.e., no RCM restriction), and conducted a benchmark against established IK libraries used in robotic applications, namely Orocos KDL and Trac-IK [20]...
4.2. Unconstrained Inverse Kinematics Benchmark To assess the performance of concurrent IK solvers, we first considered an unconstrained scenario (i.e., no RCM restriction), and conducted a benchmark against established IK libraries used in robotic applications, namely Orocos KDL and Trac-IK [20]...
4.2. Unconstrained Inverse Kinematics Benchmark To assess the performance of concurrent IK solvers, we first considered an unconstrained scenario (i.e., no RCM restriction), and conducted a benchmark against established IK libraries used in robotic applications, namely Orocos KDL and Trac-IK [20]...