30 citations · 99 across the 11 of their papers we have counts for
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cs.RO2021★ 30 cited
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…
cs.RO2021★ 5 cited
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…