A projected back-tracking line-search for constrained interactive inverse kinematics.

Morten Engell-Nørregård Kenny Erleben

Published in: Comput. Graph. (2011)

Keyphrases

inverse kinematics
line search
joint angles
robot arm
position and orientation
motion planning
robot manipulators
step size
conjugate gradient
quadratic programming
global convergence
real time
linear program
object recognition
primal dual
degrees of freedom
pose estimation
risk minimization