Globally Optimal Inverse Kinematics as a Quadratic Program.
Tomás VotroubekTomás KroupaPublished in: CoRR (2023)
Keyphrases
- inverse kinematics
- globally optimal
- quadratic program
- linear constraints
- linear program
- convex optimization
- robot manipulators
- robot arm
- quadratic programming
- approximation algorithms
- position and orientation
- graph cuts
- maximum margin
- linear programming
- motion planning
- objective function
- mixed integer
- decomposition algorithm
- learning algorithm
- support vector machine
- special case