@inproceedings{0595b5f5cf0d4fd2abee336c47229cb9,
title = "A power series based inverse-kinematics solution of a humanoid robot hand with coupled joints",
abstract = "Since it is difficult to obtain a closed-form solution of inverse-kinematics for a humanoid robot hand with coupled joints due to its nonlinearity induced by trigonometric transcendental function, most solutions achieved in early studies were numerical ones. In this paper, an inverse-kinematics algorithm based on the power series is presented, by which the nonlinear equation including trigonometric transcendental function can be converted into an algebraic equation. An approximate solution is derived firstly; with 1-D linear interpolation for errors compensating, the accurate solution can then be achieved. In calculation example, the algorithms based on power series expanded to quadratic and quartic terms are used to calculate the accurate joint angles. Simulation results demonstrate effectiveness of the proposed inverse kinematics method.",
keywords = "Humanoid robot hand, coupled joints, inverse kinematics, linear interpolation, power series",
author = "Li Jiang and Bingqian Sun and Shaowei Fan and Qi Zhang",
note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 ; Conference date: 03-12-2016 Through 07-12-2016",
year = "2016",
doi = "10.1109/ROBIO.2016.7866532",
language = "英语",
series = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1455--1460",
booktitle = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",
address = "美国",
}