Observatorio de I+D+i UPM

Memorias de investigación
Artículos en revistas:
The Natural-CCD algorithm, a novel method to solve the inverse kinematics of hyper-redundant and soft robots
Año:2018
Áreas de investigación
  • Robots flexibles
Datos
Descripción
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.
Internacional
Si
JCR del ISI
Si
Título de la revista
Soft Robotics
ISSN
2169-5172
Factor de impacto JCR
8,649
Información de impacto
Datos JCR del año 2016
Volumen
5
DOI
10.1089/soro.2017.0009
Número de revista
3
Desde la página
242
Hasta la página
257
Mes
SIN MES
Ranking
Número 1 en Robótica de 26 revistas
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Andres Martin Barrio (UPM)
  • Autor: Antonio Barrientos Cruz (UPM)
  • Autor: Jaime del Cerro Giner (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Grupo de Investigación: Robótica y Cibernética
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial
S2i 2021 Observatorio de investigación @ UPM con la colaboración del Consejo Social UPM
Cofinanciación del MINECO en el marco del Programa INNCIDE 2011 (OTR-2011-0236)
Cofinanciación del MINECO en el marco del Programa INNPACTO (IPT-020000-2010-22)