Filters








3,966 Hits in 3.6 sec

Convex Iteration for Distance-Geometric Inverse Kinematics [article]

Matthew Giamou, Filip Marić, David M. Rosen, Valentin Peretroukhin, Nicholas Roy, Ivan Petrović, Jonathan Kelly
2022 arXiv   pre-print
We then present (Convex Iteration for Distance-Geometric Inverse Kinematics), an algorithm that solves this feasibility problem with a sequence of semidefinite programs whose objectives are designed to  ...  In this work, we first formulate inverse kinematics with complex workspace constraints as a convex feasibility problem whose low-rank feasible points provide exact IK solutions.  ...  DGPs to develop CIDGIK (Convex Iteration for Distance-Geometric Inverse Kinematics), a novel IK solver.  ... 
arXiv:2109.03374v2 fatcat:5tulesyqwvht7pyyyswquplxmm

Riemannian Optimization for Distance-Geometric Inverse Kinematics [article]

Filip Marić, Matthew Giamou, Adam W. Hall, Soroush Khoubyarian, Ivan Petrović, Jonathan Kelly
2021 arXiv   pre-print
In this paper, we formalize the equivalence of distance-based inverse kinematics and the distance geometry problem for a large class of articulated robots and task constraints.  ...  Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots.  ...  Our recent work [45] applies a convex sum-of-squares (SOS) relaxation [46] , [47] to a distance-geometric formulation of inverse kinematics, exploiting theoretical properties that guarantee a globally  ... 
arXiv:2108.13720v2 fatcat:7v4yuluwf5d7fhjjpgut3notz4

Geometry-driven physical interaction between avatars and virtual environments

Harald Schmidl, Ming C. Lin
2004 Computer Animation and Virtual Worlds  
If applicable, joint angles for an articulated body are computed using an inverse kinematics approach based on cyclic coordinate descent.  ...  decomposed convex pieces.  ...  For a whole arm we can no longer use simple geometric overlap avoidance but have to combine it with inverse kinematics (IK).  ... 
doi:10.1002/cav.25 fatcat:usfjdaghuvdf5gtsux2ybx7gla

A branch-and-prune solver for distance constraints

J.M. Porta, L. Ros, F. Thomas, C. Torras
2005 IEEE Transactions on robotics  
Index Terms-Branch-and-prune, Cayley-Menger determinant, direct and inverse kinematics, distance constraint, interval method, kinematic and geometric constraint solving, octahedral manipulator.  ...  Finding these distances relies on a branch-and-prune technique, which iteratively eliminates from the space of distances entire regions which cannot contain any solution.  ...  FROM KINEMATIC AND GEOMETRIC CONSTRAINTS TO DISTANCE CONSTRAINTS Many problems of direct and inverse kinematics can be expressed in terms of systems of distance constraints, like those derived from conditions  ... 
doi:10.1109/tro.2004.835450 fatcat:xggld6z6xjblnlu53h5yq6m5ge

KABouM: Knowledge-Level Action and Bounding Geometry Motion Planner

Andre Gaschler, Ronald P. A. Petrick, Oussama Khatib, Alois Knoll
2018 The Journal of Artificial Intelligence Research  
For robots to solve real world tasks, they often require the ability to reason about both symbolic and geometric knowledge.  ...  At the geometric level, we take advantage of our bounded convex decomposition and swept volume computation with quadratic convergence, and fast collision detection of convex bodies.  ...  Acknowledgements The authors would like to thank Torsten Kröger, Svetlana Nogina, Quirin Fischer, and Sören Jentzsch for their help with the implementation and evaluation, and Markus Rickert for his comments  ... 
doi:10.1613/jair.5560 fatcat:c7sga7fdffg4rl3k5vypntq5he

Kinematic convexity of spherical displacements and its application to collision prediction

Q. J. Ge, Anurag Purwar, Jun Wu
2008 Proceedings of the 2008 ACM symposium on Solid and physical modeling - SPM '08  
algorithms for geometric computations in kinematic applications.  ...  In recent years, there has been an increasing interest in developing geometric algorithms for kinematic computations.  ...  Introduction Geometric analysis has much of its roots in kinematics and has long been the foundation for many methods in kinematic analysis and synthesis.  ... 
doi:10.1145/1364901.1364955 dblp:conf/sma/GePW08 fatcat:spfog5zdprbjxemtlywjftub74

State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm

Xuyang Wang, Tiansheng Lu, Peiyan Zhang
2012 International Journal of Advanced Robotic Systems  
robots.To deal with the multiple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching.  ...  A new approach to generate the original motion data for humanoid motion planning is presented in this paper.  ...  At present, minimizing an error function through some iterative optimization technique has been the main approach for solving the inverse kinematics problem of redundant robots.  ... 
doi:10.5772/50918 fatcat:32bainkhcfccrlfptgdccpajmy

State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm

Xuyang Wang, Tiansheng Lu, Peiyan Zhang
2012 International Journal of Advanced Robotic Systems  
robots.To deal with the multiple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching.  ...  A new approach to generate the original motion data for humanoid motion planning is presented in this paper.  ...  At present, minimizing an error function through some iterative optimization technique has been the main approach for solving the inverse kinematics problem of redundant robots.  ... 
doi:10.5772/46573 fatcat:datkjr442jh4ddqjo4oefvilpm

State Generation Method for Humanoid Motion Planning Based on Genetic Algorithm

Xuyang Wang, Tiansheng Lu, Peiyan Zhang
2008 International Journal of Advanced Robotic Systems  
robots.To deal with the multiple constraints and inverse kinematics, the state generation is finally simplified as a problem of optimizing and searching.  ...  A new approach to generate the original motion data for humanoid motion planning is presented in this paper.  ...  At present, minimizing an error function through some iterative optimization technique has been the main approach for solving the inverse kinematics problem of redundant robots.  ... 
doi:10.5772/5768 fatcat:m2prov3cxne2bnvxwgodibr4xy

Trajectory based Recovery of Index Finger Articulated Pose during Palmar Grasp

Avik Chatterjee, A. Mahapatra, S. Majumder, I. Basak
2012 International Journal of Computer Applications  
kinematics solutions for the correlation.  ...  Our study experimentally evaluates a kinematical model that can be used to reduce the number of surface markers in each finger for motion estimation and its segmental kinematics.  ...  and infrastructure for carrying out experiments.  ... 
doi:10.5120/7693-1021 fatcat:wwrlv2mfungcjn2sd7gpznddwm

IK-FA, a New Heuristic Inverse Kinematics Solver Using Firefly Algorithm [chapter]

Nizar Rokbani, Alicia Casals, Adel M. Alimi
2014 Studies in Computational Intelligence  
This is a heuristic approach for solving inverse kinematics without computing the inverse model.  ...  For a robotic system with a known forward kinematic model, IK-Fireflies, is used to generate iteratively a set of joint motions, then the forward kinematic model of the system is used to compute the relative  ...  result obtained for this test is for distance error about 1.  ... 
doi:10.1007/978-3-319-11017-2_15 fatcat:7pqwykporzgzhkfc3e7hkphxhi

Solving geometric constraints by iterative projections and backprojections

F. Thomas
2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004  
Most geometric constraint problems can be reduced to give coordinates to a set of points from a subset of their pairwise distances.  ...  By exploiting this fact, this paper presents an algorithm that solves geometric constraint systems by iteratively reducing and expanding the dimension of the problem.  ...  Most direct and inverse kinematics problems can be expressed in terms of systems of distance constraints between points.  ... 
doi:10.1109/robot.2004.1308083 dblp:conf/icra/Thomas04 fatcat:yswb5it3cjdmnn7gwcf3i3afui

Real-time control of redundant robotic manipulators for mobile obstacle avoidance

V. Perdereau, C. Passi, M. Drouin
2002 Robotics and Autonomous Systems  
Here, an iterative solution of the Inverse Geometric Model (IGM) is used, which requires no matrix inversion and iterates directly on the joint position, being thus suitable for on-line application and  ...  This paper offers an efficient solution for the real-time operation of a redundant robot moving in a variable environment. An approach for fixed and mobile obstacle avoidance is proposed.  ...  The iterative algorithm we have already proposed for solving the redundancy in the geometric model inversion is first recalled in Section 2.  ... 
doi:10.1016/s0921-8890(02)00274-9 fatcat:eysakxtfg5galfmyyxpehab4pu

An efficient approach for inverse kinematics and redundancy resolution of spatial redundant robots for cluttered environment

V. V. M. J. Satish Chembuly, Hari K. Voruganti
2020 SN Applied Sciences  
This paper presents an optimization-based approach for solving the inverse kinematics problem of spatial redundant manipulators in cluttered workspaces.  ...  The inverse kinematic (IK) problem is multimodal by nature, and it has multiple solutions.  ...  Inverse kinematics solution of the spatial hyper-redundant manipulator The inverse kinematics of spatial hyper-redundant manipulator are determined for a 9-DOF manipulator at different task space locations  ... 
doi:10.1007/s42452-020-2825-x fatcat:6e76gl2kkvh3filws2z643nbji

A Riemannian Metric for Geometry-Aware Singularity Avoidance by Articulated Robots [article]

Filip Marić, Luka Petrović, Marko Guberina, Jonathan Kelly, Ivan Petrović
2021 arXiv   pre-print
Articulated robots such as manipulators increasingly must operate in uncertain and dynamic environments where interaction (with human coworkers, for example) is necessary.  ...  Further, we show that this index can be differentiated easily, making it compatible with local optimization approaches used for operational space control.  ...  and inverse kinematics [6] .  ... 
arXiv:2103.05362v2 fatcat:ze2sz72zavezdipj5qv4mrgcuq
« Previous Showing results 1 — 15 out of 3,966 results