30 citations · 99 across the 11 of their papers we have counts for
11 papers
GISR: Geometric Initialization and Silhouette-based Refinement for Single-View Robot Pose and Configuration Estimation
Ivan Bilić, Filip Marić, Fabio Bonsignorio +1
In autonomous robotics, measurement of the robot's internal state and perception of its environment, including interaction with other agents such as collaborative robots, are essen…
Euclidean Equivariant Models for Generative Graphical Inverse Kinematics
Oliver Limoyo, Filip Marić, Matthew Giamou +3
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for robotic manipulation. Existing numerical solvers typically produce a singl…
CIDGIKc: Distance-Geometric Inverse Kinematics for Continuum Robots
Hanna Jiamei Zhang, Matthew Giamou, Filip Marić +2
The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make them well suited for constrained environments. Solving the inverse kinematics (IK), that is…
Generative Graphical Inverse Kinematics
Oliver Limoyo, Filip Marić, Matthew Giamou +3
Quickly and reliably finding accurate inverse kinematics (IK) solutions remains a challenging problem for many robot manipulators. Existing numerical solvers are broadly applicable…
Convex Iteration for Distance-Geometric Inverse Kinematics
Matthew Giamou, Filip Marić, David M. Rosen +4
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy constraints on the position or pose of one or more end-effectors. For robots with redundan…
Riemannian Optimization for Distance-Geometric Inverse Kinematics
Filip Marić, Matthew Giamou, Adam W. Hall +3
Solving the inverse kinematics problem is a fundamental challenge in motion planning, control, and calibration for articulated robots. Kinematic models for these robots are typical…
Inverse Kinematics as Low-Rank Euclidean Distance Matrix Completion
Filip Marić, Matthew Giamou, Ivan Petrović +1
The majority of inverse kinematics (IK) algorithms search for solutions in a configuration space defined by joint angles. However, the kinematics of many robots can also be describ…
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…