Global inverse kinematics via mixed-integer convex optimization

Global inverse kinematics via mixed-integer convex optimization

<jats:p>In this paper, we present a novel formulation of the inverse kinematics (IK) problem with generic constraints as a mixed-integer convex optimization program. The proposed approach can solve the IK problem globally with generic task space constraints: a major improvement over existing a...

Full description

Bibliographic Details
Main Authors: Dai, Hongkai, Izatt, Gregory, Tedrake, Russ
Other Authors: Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Format: Article
Language:English
Published: SAGE Publications 2021
Online Access:https://hdl.handle.net/1721.1/136519

Internet

https://hdl.handle.net/1721.1/136519

Similar Items