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Riemannian Optimization for Distance-Geometric Inverse Kinematics.
Filip Maric
Matthew Giamou
Adam W. Hall
Soroush Khoubyarian
Ivan Petrovic
Jonathan Kelly
Published in:
IEEE Trans. Robotics (2022)
Keyphrases
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inverse kinematics
robot arm
robot manipulators
position and orientation
geodesic distance
end effector
euclidean metric
optimization algorithm
global optimization
motion planning
evolutionary algorithm
differential evolution
geometric structure
lie group
information geometry