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Memorias de investigación
Research Publications in journals:
The Natural-CCD algorithm, a novel method to solve the inverse kinematics of hyper-redundant and soft robots
Year:2018
Research Areas
  • Automatic
Information
Abstract
This article presents a new method to solve the inverse kinematics problem of hyper-redundant and soft manipulators. From an engineering perspective, this kind of robots are underdetermined systems. Therefore, they exhibit an infinite number of solutions for the inverse kinematics problem, and to choose the best one can be a great challenge. A new algorithm based on the cyclic coordinate descent (CCD) and named as natural-CCD is proposed to solve this issue. It takes its name as a result of generating very harmonious robot movements and trajectories that also appear in nature, such as the golden spiral. In addition, it has been applied to perform continuous trajectories, to develop whole-body movements, to analyze motion planning in complex environments, and to study fault tolerance, even for both prismatic and rotational joints. The proposed algorithm is very simple, precise, and computationally efficient. It works for robots either in two or three spatial dimensions and handles a large amount of degrees-of-freedom. Because of this, it is aimed to break down barriers between discrete hyper-redundant and continuum soft robots.
International
Si
JCR
Si
Title
Soft Robotics
ISBN
2169-5172
Impact factor JCR
8,649
Impact info
Datos JCR del año 2016
Volume
00
10.1089/soro.2017.0009
Journal number
From page
1
To page
16
Month
SIN MES
Ranking
Participants
  • Autor: Andres Martin Barrio (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
Research Group, Departaments and Institutes related
  • Creador: Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
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