19 citations · 42 across the 4 of their papers we have counts for
3 papers · 1 filter
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…
Certifiably Optimal Monocular Hand-Eye Calibration
Emmett Wise, Matthew Giamou, Soroush Khoubyarian +2
Correct fusion of data from two sensors is not possible without an accurate estimate of their relative pose, which can be determined through the process of extrinsic calibration. W…
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…