Liangting Wu
YOU?
Author Swipe
View article: Inverse Kinematics with Vision-Based Constraints
Inverse Kinematics with Vision-Based Constraints Open
This paper introduces the Visual Inverse Kinematics problem (VIK) to fill the gap between robot Inverse Kinematics (IK) and visual servo control. Different from the IK problem, the VIK problem seeks to find robot configurations subject to …
View article: IKSPARK: An Inverse Kinematics Solver using Semidefinite Relaxation and Rank Minimization
IKSPARK: An Inverse Kinematics Solver using Semidefinite Relaxation and Rank Minimization Open
Inverse kinematics (IK) is a fundamental problem frequently occurred in robot control and motion planning. However, the problem is nonconvex because the kinematic map between the configuration and task spaces is generally nonlinear, which …