Inverse Kinematic Planning
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Related Articles from SNS
Integrated Hierarchical Decision-Making in Inverse Kinematic Planning and Control
arXiv:2412.01324v5 Announce Type: replace Abstract: This work presents a novel and efficient nonlinear programming framework that tightly integrates hierarchical decision-making with whole-body inverse kinematic planning and control. Decision-making plays a central role in many aspects of robotics, from sparse inverse kinematic control with a minimal number of joints, to inverse kinematic planning while simultaneously selecting a discrete end-effector location from multiple candidates....
An Interval Branch-and-Bound-Based Inverse Kinemetics Algorithm Towards Global Optimal Redundancy Resolution
Announce Type: replace Abstract: The general inverse kinematics (IK) problem of a manipulator, namely that of acquiring the self-motion manifold (SMM) of all admissible joint angles for a desired end-effector pose, plays a vital role in robotics modeling, planning and control. To efficiently solve the generalized IK, this paper proposes an interval branch-and-bound-based approach, which is augmented with a fast numerical IK-solver-enabled search heuristics. In comparison to independent...