Globally Optimal Inverse Kinematics as a Non-Convex Quadratically Constrained Quadratic Program.
Tomás VotroubekTomás KroupaPublished in: IEEE Robotics Autom. Lett. (2024)
Keyphrases
- globally optimal
- inverse kinematics
- quadratically constrained quadratic
- convex optimization
- semidefinite programming
- interior point methods
- semi infinite
- robot arm
- convex relaxation
- position and orientation
- robot manipulators
- kernel learning
- graph cuts
- global optimality
- motion planning
- semi definite programming
- semidefinite program
- linear programming
- linear program
- convex programming
- semidefinite
- similarity measure
- quadratic programming
- semi supervised
- reinforcement learning