Global Inverse Kinematics via Mixed-Integer Convex Optimization.
Hongkai DaiGregory IzattRuss TedrakePublished in: ISRR (2017)
Keyphrases
- convex optimization
- mixed integer
- inverse kinematics
- quadratic program
- interior point methods
- linear programming problems
- primal dual
- linear program
- robot manipulators
- robot arm
- feasible solution
- position and orientation
- lot sizing
- convex hull
- motion planning
- optimal solution
- total variation
- convex optimization problems
- linear programming
- continuous variables
- lead time
- maximum margin
- semidefinite programming
- particle swarm optimization
- high resolution
- high dimensional
- genetic algorithm