4 papers
Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization
Filip Maric, Matthew Giamou, Soroush Khoubyarian +2
Inverse kinematics is a fundamental problem for articulated robots: fast and accurate algorithms are needed for translating task-related workspace constraints and goals into feasib…
Fast Manipulability Maximization Using Continuous-Time Trajectory Optimization
Filip Marić, Oliver Limoyo, Luka Petrović +3
A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possib…
Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging
Matthew Giamou, Filip Maric, Valentin Peretroukhin +1
Estimating unknown rotations from noisy measurements is an important step in SfM and other 3D vision tasks. Typically, local optimization methods susceptible to returning suboptima…
Self-Calibration of Mobile Manipulator Kinematic and Sensor Extrinsic Parameters Through Contact-Based Interaction
Oliver Limoyo, Trevor Ablett, Filip Marić +2
We present a novel approach for mobile manipulator self-calibration using contact information. Our method, based on point cloud registration, is applied to estimate the extrinsic t…