Institute of Computing Technology, Chinese Academy IR
JANM-IK: Jacobian Argumented Nelder-Mead Algorithm for Inverse Kinematics and its Hardware Acceleration | |
Yang, Yuxin1,2; Chen, Xiaoming1; Han, Yinhe1 | |
2024 | |
发表期刊 | IEEE COMPUTER ARCHITECTURE LETTERS |
ISSN | 1556-6056 |
卷号 | 23期号:1页码:45-48 |
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. |
关键词 | Robotics inverse kinematics Jacobian nelder-mead software-hardware co-design accelerator |
DOI | 10.1109/LCA.2024.3369940 |
收录类别 | SCI |
语种 | 英语 |
资助项目 | National Natural Science Foundation of China |
WOS研究方向 | Computer Science |
WOS类目 | Computer Science, Hardware & Architecture |
WOS记录号 | WOS:001188283800004 |
出版者 | IEEE COMPUTER SOC |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://119.78.100.204/handle/2XEOYT63/38749 |
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.Chinese Acad Sci, Inst Comp Technol, Beijing 100045, Peoples R China 2.Univ Chinese Acad Sci, Beijing 101408, 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. |
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