TY - GEN
T1 - O (logn) algorithm for forward kinematics under asynchronous sensory input
AU - Wakatabe, Ryo
AU - Kuniyoshi, Yasuo
AU - Cheng, Gordon
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/21
Y1 - 2017/7/21
N2 - This paper presents a new algorithm for forward kinematics, called Asynchronous Forward Kinematics (AFK). The algorithm has the complexity of O(log n) for updating one joint angle, and O(logn) for obtaining a homogeneous transformation matrix between links. AFK enables computation for efficient forward kinematics under asynchronous sensory data. Moreover, AFK peovides localise computational resources at sensitive joints to the position of the endpoint (e.g. a fingertip), like a root joint. We provide comparative results including computation time, evaluating AFK against the conventional forward kinematics (CFK). The results showed that the computation time is well adequate for real-time computation. Computation time for 100 links takes less than 20 us for 1 query. Moreover, computation time with over 50000 links takes less than 35 us for 1 query.
AB - This paper presents a new algorithm for forward kinematics, called Asynchronous Forward Kinematics (AFK). The algorithm has the complexity of O(log n) for updating one joint angle, and O(logn) for obtaining a homogeneous transformation matrix between links. AFK enables computation for efficient forward kinematics under asynchronous sensory data. Moreover, AFK peovides localise computational resources at sensitive joints to the position of the endpoint (e.g. a fingertip), like a root joint. We provide comparative results including computation time, evaluating AFK against the conventional forward kinematics (CFK). The results showed that the computation time is well adequate for real-time computation. Computation time for 100 links takes less than 20 us for 1 query. Moreover, computation time with over 50000 links takes less than 35 us for 1 query.
UR - https://www.scopus.com/pages/publications/85027985771
U2 - 10.1109/ICRA.2017.7989291
DO - 10.1109/ICRA.2017.7989291
M3 - Conference contribution
AN - SCOPUS:85027985771
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2502
EP - 2507
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -