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JANM-IK: Jacobian Argumented Nelder-Mead Algorithm for Inverse Kinematics and its Hardware Acceleration

文献类型：期刊论文

作者Yang, Yuxin1,2; Chen, Xiaoming2; Han, Yinhe2
刊名IEEE COMPUTER ARCHITECTURE LETTERS
出版日期2024
卷号23期号:1页码:45-48
关键词Robotics inverse kinematics Jacobian nelder-mead software-hardware co-design accelerator
ISSN号1556-6056
DOI10.1109/LCA.2024.3369940
英文摘要Inverse kinematics is one of the core calculations in robotic applications and has strong performance requirements. Previous hardware acceleration work paid little attention to joint constraints, which can lead to computational failures. We propose a new inverse kinematics algorithm JANM-IK. It uses a hardware-friendly design, optimizes the Jacobian-based method and Nelder-Mead method, realizes the processing of joint constraints, and has a high convergence speed. We further designed its acceleration architecture to achieve high-performance computing through sufficient parallelism and hardware optimization. Finally, after experimental verification, JANM-IK can achieve a very high success rate and obtain certain performance improvements.
资助项目National Natural Science Foundation of China
WOS研究方向Computer Science
语种英语
WOS记录号WOS:001188283800004
出版者IEEE COMPUTER SOC
源URL[http://119.78.100.204/handle/2XEOYT63/38748]  
专题中国科学院计算技术研究所期刊论文_英文
通讯作者Chen, Xiaoming; Han, Yinhe
作者单位1.Univ Chinese Acad Sci, Beijing 101408, Peoples R China
2.Chinese Acad Sci, Inst Comp Technol, Beijing 100045, Peoples R China
推荐引用方式
GB/T 7714		 Yang, Yuxin,Chen, Xiaoming,Han, Yinhe. JANM-IK: Jacobian Argumented Nelder-Mead Algorithm for Inverse Kinematics and its Hardware Acceleration[J]. IEEE COMPUTER ARCHITECTURE LETTERS,2024,23(1):45-48.
APA Yang, Yuxin,Chen, Xiaoming,&Han, Yinhe.(2024).JANM-IK: Jacobian Argumented Nelder-Mead Algorithm for Inverse Kinematics and its Hardware Acceleration.IEEE COMPUTER ARCHITECTURE LETTERS,23(1),45-48.
MLA Yang, Yuxin,et al."JANM-IK: Jacobian Argumented Nelder-Mead Algorithm for Inverse Kinematics and its Hardware Acceleration".IEEE COMPUTER ARCHITECTURE LETTERS 23.1(2024):45-48.

入库方式： OAI收割

来源：计算技术研究所

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