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...

书目详细资料
Main Authors:	Dai, Hongkai, Izatt, Gregory, Tedrake, Russ
其他作者:	Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
格式:	文件
语言:	English
出版:	SAGE Publications 2021
在线阅读:	https://hdl.handle.net/1721.1/136519

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