Related papers: Simple inverse kinematics computation considering …
Inverse dynamic analysis using musculoskeletal modeling is a powerful tool, which is utilized in a range of applications to estimate forces in ligaments, muscles, and joints, non-invasively. To date, the conventional input used in this…
Inverse Kinematics (IK) plays a critical role in robotic motion planning and control. The IK solutions of a robot manipulator could be done by conventional ways such as geometric, algebraic, or Jacobian methods, which have drawbacks. The…
Consider the problem of finding an optimal value of some objective functional subject to constraints over numerical domain. This type of problem arises frequently in practical engineering tasks. Nowdays almost all general methods for…
Mobile manipulators are finding use in numerous practical applications. The current issues with mobile manipulation are the large state space owing to the mobile base and the challenge of modeling high degree of freedom systems. It is…
Optimization plays an important role in solving many inverse problems. Indeed, the task of inversion often either involves or is fully cast as a solution of an optimization problem. In this light, the mere non-linear, non-convex, and…
Inverse design of slender elastic structures underlies a wide range of applications in computer graphics, flexible electronics, biomedical devices, and soft robotics. Traditional optimization-based approaches, however, are often orders of…
Stochastic optimisation algorithms are the de facto standard for machine learning with large amounts of data. Handling only a subset of available data in each optimisation step dramatically reduces the per-iteration computational costs,…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
A cumbersome operation in numerical analysis and linear algebra, optimization, machine learning and engineering algorithms; is inverting large full-rank matrices which appears in various processes and applications. This has both numerical…
In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
In this work, we start with a generic mathematical framework for the equations of motion (EOM) in flight mechanics with six degrees of freedom (6-DOF) for a general (not necessarily symmetric) fixed-wing aircraft. This mathematical…
Standard regularization methods that are used to compute solutions to ill-posed inverse problems require knowledge of the forward model. In many real-life applications, the forward model is not known, but training data is readily available.…
We propose a novel method to compute multi-loop master integrals by constructing and numerically solving a system of ordinary differential equations, with almost trivial boundary conditions. Thus it can be systematically applied to problems…
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…
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…
A challenge in high-dimensional inverse problems is developing iterative solvers to find the accurate solution of regularized optimization problems with low computational cost. An important example is computed tomography (CT) where both…
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…
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…
We study an inverse problem of the stochastic optimal control of general diffusions with performance index having the quadratic penalty term of the control process. Under mild conditions on the system dynamics, the cost functions, and the…