— Reaching is a critical task for humanoid robots, requiring the application of state-of-the-art algorithms for motion planning and inverse kinematics. Practical algorithms for s...
— We propose a novel solution to the problem of inverse kinematics for redundant robotic manipulators for the purposes of goal selection for path planning. We unify the calculati...
—We present a new geometrical approach to solving inverse kinematics for continuous backbone (continuum) robot manipulators. First, this paper presents a solution to the inverse ...
Srinivas Neppalli, Matthew A. Csencsits, Bryan A. ...
Abstract— Learning inverse kinematics has long been fascinating the robot learning community. While humans acquire this transformation to complicated tool spaces with ease, it is...
– This paper presents a new singularity robust and computationally efficient method for solving the inverse kinematics (IK) problem. In this method, the transformation from Carte...
— In this paper, we present efficient solutions for planning motions of dual-arm manipulation and re-grasping tasks. Motion planning for such tasks on humanoid robots with a hig...
Niko Vahrenkamp, Dmitry Berenson, Tamim Asfour, Ja...