Related papers: IK-Geo: Unified Robot Inverse Kinematics Using Sub…
In this paper, we present a geometric multigrid methodology for the solution of matrix systems associated with isogeometric compatible discretizations of the generalized Stokes and Oseen problems. The methodology provably yields a pointwise…
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…
This paper presents an advanced method for addressing the inverse kinematics and optimal path planning challenges in robot manipulators. The inverse kinematics problem involves determining the joint angles for a given position and…
This study presents a set of algorithms that deal with trajectory planning of rational single-loop mechanisms with one degree of freedom (DoF). Benefiting from a dual quaternion representation of a rational motion, a formula for direct…
This paper explores the problem of collision-free motion generation for manipulators by formulating it as a global motion optimization problem. We develop a parallel optimization technique to solve this problem and demonstrate its…
Inverse Kinematics (IK) systems are often rigid with respect to their input character, thus requiring user intervention to be adapted to new skeletons. In this paper we aim at creating a flexible, learned IK solver applicable to a wide…
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…
Methods for inverse kinematics computation and path planning of a three degree-of-freedom (DOF) manipulator using the algorithm for quantifier elimination based on Comprehensive Gr\"obner Systems (CGS), called CGS-QE method, are proposed.…
We propose a system for differentiating through solutions to geometry processing problems. Our system differentiates a broad class of geometric algorithms, exploiting existing fast problem-specific schemes common to geometry processing,…
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,…
Continuum and soft robots can leverage complex actuator shapes to take on useful shapes while actuating only a few of their many degrees of freedom. Continuum robots that also grow increase the range of potential shapes that can be actuated…
This paper describes a unified method solving for inverse, forward, and hybrid dynamics problems for robotic manipulators with either open kinematic chains or closed kinematic loops based on factor graphs. Manipulator dynamics is considered…
Robot motion can have many goals. Depending on the task, we might optimize for pose error, speed, collision, or similarity to a human demonstration. Motivated by this, we present PyRoki: a modular, extensible, and cross-platform toolkit for…
This paper presents an inverse kinematic optimization layer (IKOL) for 3D human pose and shape estimation that leverages the strength of both optimization- and regression-based methods within an end-to-end framework. IKOL involves a…
Inverse kinematics is a fundamental technique for motion and positioning control in robotics, typically applied to end-effectors. In this paper, we extend the concept of inverse kinematics to guiding vector fields for path following in…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
We propose the use of machine learning techniques to find optimal quadrature rules for the construction of stiffness and mass matrices in isogeometric analysis (IGA). We initially consider 1D spline spaces of arbitrary degree spanned over…
Impact-sounding (IS) and impact-echo (IE) are well-developed non-destructive evaluation (NDE) methods that are widely used for inspections of concrete structures to ensure the safety and sustainability. However, it is a tedious work to…
Quadratic programming (QP) underpins real-time robotics by enabling efficient, constrained optimization in state estimation, motion planning, and control. In legged locomotion and manipulation, essential modules like inverse dynamics, Model…
We present a computational methodology for obtaining rotationally symmetric sets of points satisfying discrete geometric constraints, and demonstrate its applicability by discovering new solutions to some well-known problems in…