Ryo Wakatabe — accepted AI-conference papers

2018

Efficient Event-Driven Forward Kinematics of Open Kinematic Chains with O(Log n) Complexity

Ryo Wakatabe, Kohei Morita, Gordon Cheng, Yasuo Kuniyoshi

ICRA 2018poster

This paper presents novel event-driven forward kinematics algorithms for open kinematic chains with O(log n) complexity. This event-driven algorithm can efficiently update forward kinematics only when new sensory data comes. This will also contribute to localization of computational resources at sen…

Cited by 0 Source ↗Scholar ↗

2017

O (logn) algorithm for forward kinematics under asynchronous sensory input

Ryo Wakatabe, Yasuo Kuniyoshi, Gordon Cheng

ICRA 2017poster

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 forw…

Cited by 6 Source ↗Scholar ↗