Fast resolution of hierarchized inverse kinematics with inequality constraints.
Adrien EscandeNicolas MansardPierre-Brice WieberPublished in: ICRA (2010)
Keyphrases
- inverse kinematics
- inequality constraints
- constrained optimization
- robot arm
- nonlinear programming
- robot manipulators
- interior point methods
- position and orientation
- equality constraints
- motion planning
- high resolution
- linear program
- constrained problems
- differential evolution
- constrained optimization problems
- fitness function
- linear programming