Global inverse kinematics via mixed-integer convex optimization.
Hongkai DaiGregory IzattRuss TedrakePublished in: Int. J. Robotics Res. (2019)
Keyphrases
- convex optimization
- mixed integer
- inverse kinematics
- quadratic program
- interior point methods
- linear program
- robot arm
- linear programming problems
- convex hull
- lot sizing
- primal dual
- robot manipulators
- position and orientation
- feasible solution
- total variation
- motion planning
- convex optimization problems
- continuous variables
- optimal solution
- linear programming
- image processing
- machine learning