Globally Optimal Inverse Kinematics as a Non-Convex Quadratically Constrained Quadratic Program

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00376651" target="_blank" >RIV/68407700:21230/24:00376651 - isvavai.cz</a>
Result on the web
<a href="https://doi.org/10.1109/LRA.2024.3398433" target="_blank" >https://doi.org/10.1109/LRA.2024.3398433</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/LRA.2024.3398433" target="_blank" >10.1109/LRA.2024.3398433</a>

Result language
angličtina
Original language name
Globally Optimal Inverse Kinematics as a Non-Convex Quadratically Constrained Quadratic Program
Original language description
We show how to compute globally optimal solutions to inverse kinematics by formulating the problem as a non-convex quadratically constrained quadratic program. Our approach makes solving inverse kinematics instances of generic redundant manipulators feasible. We demonstrate the performance on randomly generated designs and real-world robots with up to ten revolute joints. The same technique can be used for manipulator design by introducing kinematic parameters as variables.
Czech name
—
Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project
<a href="/en/project/EF16_019%2F0000765" target="_blank" >EF16_019/0000765: Research Center for Informatics</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2024
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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