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Performance Evaluation of Multigrid Brute-Force Solutions of Inverse Kinematics Problem for the Robotis OP2 Humanoid Hand

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Frontiers in Robotics and Electromechanics

Part of the book series: Smart Innovation, Systems and Technologies ((SIST,volume 329))

Abstract

Humanoid robots target to remove human labor from multiple working environments including the ones that were initially constructed for a human. Robot limbs operation requires solving an inverse kinematics problem, and a standard solution could involve algebraic, geometric, or numerical approaches. This paper presents two brute-force off-line approaches for a Robotis OP2 humanoid upper limb positioning via forward kinematics. Both approaches calculate and structure all possible solutions for an end-effector pose within a robot workspace in advance using a powerful PC, in the off-line mode. Several levels of workspace and joint space discretization allow a user to select a required for his/her task level of the solution precision considering available onboard resources of the robot. Different discretization levels were evaluated at an offboard PC and at an onboard computer of the Robotis OP2 humanoid. The solutions with different discretization levels were compared in terms of memory consumption and precision. The solutions were initially obtained in the Gazebo simulation and then successfully validated with a real Robotics OP2 humanoid. The presented analysis might be useful for a discretization level selection under onboard memory limitations while dealing with manipulator kinematics.

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Notes

  1. 1.

    The same test was not performed on the robot onboard computer since we believe that an amount of memory consumed does not depend on an execution environment under the condition of staying within the hardware limitations.

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Acknowledgements

This paper has been supported by RFBR, project number 20-38-90257.

Author information

Authors and Affiliations

  1. Laboratory of Intelligent Robotic Systems, Intelligent Robotics Department, Kazan Federal University, Kremlin St. 35, Kazan, 420008, Russia

    Linar Zagidullin, Tatyana Tsoy & Evgeni Magid

  2. Graduate School Engineering Science and Technology, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou, Yunlin, 64002, Taiwan

    Kuo-Hsien Hsia

  3. Institute of Engineering and Technology, Department of Industrial Engineering and Manufacturing, Autonomous University of Ciudad Juarez, Manuel Díaz H. No. 518-B Zona Pronaf Condominio, Chihuahua, 32315, Cd Juárez, Mexico

    Edgar A. Martínez-García

Authors
  1. Linar Zagidullin
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  2. Tatyana Tsoy
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  3. Kuo-Hsien Hsia
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  4. Edgar A. Martínez-García
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  5. Evgeni Magid
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Correspondence to Evgeni Magid .

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Editors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Research Institute of Robotics and Control Systems, Southern Federal University, Rostov-on-Don, Russia

    Viacheslav Pshikhopov

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© 2023 The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

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Zagidullin, L., Tsoy, T., Hsia, KH., Martínez-García, E.A., Magid, E. (2023). Performance Evaluation of Multigrid Brute-Force Solutions of Inverse Kinematics Problem for the Robotis OP2 Humanoid Hand. In: Ronzhin, A., Pshikhopov, V. (eds) Frontiers in Robotics and Electromechanics. Smart Innovation, Systems and Technologies, vol 329. Springer, Singapore. https://doi.org/10.1007/978-981-19-7685-8_5

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