Related papers: An Interval Branch-and-Bound-Based Inverse Kinemet…
Forward and backward reaching inverse kinematics (FABRIK) is a heuristic inverse kinematics solver that is gradually applied to manipulators with the advantages of fast convergence and generating more realistic configurations. However,…
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…
Singular configurations cause loss of task-space mobility, unbounded joint velocities, and solver divergence in inverse kinematics (IK) for serial manipulators. No existing survey bridges classical singularity-robust IK with rapidly growing…
For fully actuated rigid robots, kinematic inversion is a purely geometric problem, efficiently solved by closed-loop inverse kinematics (CLIK) schemes that compute joint configurations to position the robot body in space. For underactuated…
Industrial automation with six-axis robotic arms is critical for many manufacturing tasks, including welding and additive manufacturing applications; however, many of these operations are functionally redundant due to the symmetrical tool…
Modern manipulators are acclaimed for their precision but often struggle to operate in confined spaces. This limitation has driven the development of hyper-redundant and continuum robots. While these present unique advantages, they face…
Tracking Cartesian motion with end~effectors is a fundamental task in robot control. For motion that is not known in advance, the solvers must find fast solutions to the inverse kinematics (IK) problem for discretely sampled target poses.…
We present a novel approach for solving articulated inverse kinematic problems (e.g., character structures) by means of an iterative dual-quaternion and exponentialmapping approach. As dual-quaternions are a break from the norm and offer a…
The Ensemble Kalman Filter method can be used as an iterative numerical scheme for parameter identification or nonlinear filtering problems. We study the limit of infinitely large ensemble size and derive the corresponding mean-field limit…
We develop an elementary mean field approach for fully asymmetric kinetic Ising models, which can be applied to a single instance of the problem. In the case of the asymmetric SK model this method gives the exact values of the local…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
We consider efficient methods for computing solutions to dynamic inverse problems, where both the quantities of interest and the forward operator (measurement process) may change at different time instances but we want to solve for all the…
We consider a class of Riemannian optimization problems where the objective is the sum of a smooth function and a nonsmooth function, considered in the ambient space. This class of problems finds important applications in machine learning…
The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The presence of passive joint limits as well as the…
Inactive constraints do not contribute to the solution of an optimal control problem, but increase the problem size and burden the numerical computations. We present a novel strategy for handling inactive constraints efficiently by…
MRI, a widespread non-invasive medical imaging modality, is highly sensitive to patient motion. Despite many attempts over the years, motion correction remains a difficult problem and there is no general method applicable to all situations.…
This paper presents an analytical solution to the inverse kinematic problem(IKP) for the seven degree-of-freedom (7-DOF) Moz1 Robot Arm with offsets on wrist. We provide closed-form solutions with the novel arm angle . it allow fully…
We present an analytical solution for the inverse kinematics (IK) of a robotic arm with one prismatic joint and four revolute joints. This 5-DoF design is a result of minimizing weight while preserving functionality of the device in a…
We consider a new type of inverse combinatorial optimization, Inverse Submodular Maximization (ISM), for its application in human-in-the-loop multi-robot information gathering. Forward combinatorial optimization - solving a combinatorial…
An effective method for optimizing path planning for a specific model of a 6-degree-of-freedom (6-DOF) robot manipulator is presented as part of the motion planning of the manipulator using computer algebra. We assume that we are given a…