Riemannian Optimization for Distance-Geometric Inverse Kinematics
Filip Marić,
Matthew Giamou,
Adam W. Hall
et al.
Abstract:Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typically parameterized by joint angles, generating a complicated mapping between a robot's configuration and end-effector pose. Alternatively, the kinematic model and task constraints can be represented using invariant distances between points attached to the robot. In this paper, we formalize the equivalence of distancebased inverse kinem… Show more
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