Fast Adaptation of Manipulator Trajectories to Task Perturbation By Differentiating through the Optimal Solution.
Shashank SrikanthMithun BabuHouman MasnaviArun Kumar SinghKarl KruusamäeK. Madhava KrishnaPublished in: CoRR (2020)
Keyphrases
- optimal solution
- np hard
- objective function
- lower bound
- search space
- linear programming
- global optimum
- total cost
- solution quality
- degrees of freedom
- trajectory data
- configuration space
- path planning
- vision system
- computer controlled
- inverse kinematics
- locally optimal
- adaptation process
- feasible solution
- branch and bound
- linear program
- metaheuristic
- perturbation method
- laparoscopic surgery
- case based planning
- neural network
- obtain the optimal solution
- robot manipulators
- iterative procedure
- knapsack problem
- evolutionary algorithm