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Modern robotics applications require an inverse kinematics (IK) solver that is fast, robust and consistent, and that provides all possible solutions. Currently, the Franka robot arm is the most widely used manipulator in robotics research.…
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…
Numerical methods for Inverse Kinematics (IK) employ iterative, linear approximations of the IK until the end-effector is brought from its initial pose to the desired final pose. These methods require the computation of the Jacobian of the…
Hyper-redundant Robotic Manipulators (HRMs) offer great dexterity and flexibility of operation, but solving Inverse Kinematics (IK) is challenging. In this work, we introduce VO-FABRIK, an algorithm combining Forward and Backward Reaching…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
Conventional robots possess a limited understanding of their kinematics and are confined to preprogrammed tasks, hindering their ability to leverage tools efficiently. Driven by the essential components of tool usage - grasping the desired…
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable but typically only produce a single solution and rely on…
Inverse kinematics (IK) is a core operation in animation, robotics, and biomechanics: given Cartesian constraints, recover joint rotations under a known kinematic tree. In many real-time human avatar pipelines, the available signal per…
In this paper, we address efficiently and robustly collecting objects stored in different trays using a mobile manipulator. A resolution complete method, based on precomputed reachability database, is proposed to explore collision-free…
With the progress of 3D human pose and shape estimation, state-of-the-art methods can either be robust to occlusions or obtain pixel-aligned accuracy in non-occlusion cases. However, they cannot obtain robustness and mesh-image alignment at…
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…
Many applications require a robot to accurately track reference end-effector trajectories. Certain trajectories may not be tracked as single, continuous paths due to the robot's kinematic constraints or obstacles elsewhere in the…
Human-to-humanoid imitation learning aims to learn a humanoid whole-body controller from human motion. Motion retargeting is a crucial step in enabling robots to acquire reference trajectories when exploring locomotion skills. However,…
Redundant manipulators are well understood to offer infinite joint configurations for achieving a desired end-effector pose. The multiplicity of inverse kinematics (IK) solutions allows for the simultaneous solving of auxiliary tasks like…
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.…
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…
Traditional offline redundancy resolution of trajectories for redundant manipulators involves computing inverse kinematic solutions for Cartesian space paths, constraining the manipulator to a fixed path without real-time adjustments.…
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…
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…
This paper describes a data-driven framework for approximate global optimization in which precomputed solutions to a sample of problems are retrieved and adapted during online use to solve novel problems. This approach has promise for…