Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion (CROSBI ID 711031)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Marić, Filip ; Giamou, Matthew ; Petrović, Ivan ; Kelly, Jonathan
engleski
Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion
The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be described in terms of distances between rigidly-attached points, which collectively form a Euclidean distance matrix. This alternative geometric description of the kinematics reveals an elegant equivalence between IK and the problem of low-rank matrix completion. We use this connection to implement a novel Riemannian optimization-based solution to IK for various articulated robots with symmetric joint angle constraints.
Inverse Kinematics, Distance Geometry
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Podaci o prilogu
09196704
2020.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’20) Workshop on Bringing Geometric Methods to Robot Learning, Optimization and Control
Las Vegas (NV):
Podaci o skupu
IROS 2020 Workshop on Bringing Geometric Methods to Robot Learning, Optimization and Control (IROS’20)
predavanje
29.10.2020-29.10.2020
Las Vegas (NV), Sjedinjene Američke Države