Inverse Kinematics for Neuro-Robotic Grasping with Humanoid Embodied Agents

This paper introduces a novel zero-shot motion planning method that allows users to quickly design smooth robot motions in Cartesian space. A Bézier curve-based Cartesian plan is transformed into a joint space trajectory by our neuro-inspired inverse kinematics (IK) method CycleIK, for which we enable platform independence by scaling it to arbitrary robot designs. The motion planner is evaluated on the physical hardware of the two humanoid robots NICO and NICOL in a human-in-the-loop grasping scenario. Our method is deployed with an embodied agent that is a large language model (LLM) at its core. We generalize the embodied agent, that was introduced for NICOL, to also embody NICO. The agent can execute a discrete set of physical actions and allows the user to verbally instruct various different robots. We contribute a grasping primitive to its action space that allows for precise manipulation of household objects. The updated CycleIK2 method is compared to popular numerical IK solvers and state-of-the-art neural IK methods in simulation and is shown to be competitive with or outperform all evaluated methods when the algorithm runtime is very short. The grasping primitive is evaluated on both NICOL and NICO robots with a reported grasp success of 72% to 82% for each robot, respectively.

@InProceedings{HGAW24b, 
 	 author =  {Habekost, Jan-Gerrit and Gaede, Connor and Allgeuer, Philipp and Wermter, Stefan},  
 	 title = {Inverse Kinematics for Neuro-Robotic Grasping with Humanoid Embodied Agents}, 
 	 booktitle = {2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
 	 journal = {},
 	 editors = {},
 	 number = {},
 	 volume = {},
 	 pages = {7315-7322},
 	 year = {2024},
 	 month = {Dec},
 	 publisher = {},
 	 doi = {10.1109/IROS58592.2024.10802010}, 
 }