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math.ST2025
Rolled Gaussian process models for curves on manifolds
Simon Preston, Karthik Bharath, Pablo Lopez-Custodio +1
Given a planar curve, imagine rolling a sphere along that curve without slipping or twisting, and by this means tracing out a curve on the sphere. It is well known that such a roll…
cs.RO2025
GeoFIK: A Fast and Reliable Geometric Solver for the IK of the Franka Arm based on Screw Theory Enabling Multiple Redundancy Parameters
Pablo C. Lopez-Custodio, Yuhe Gong, Luis F. C. Figueredo
Modern robotics applications require an inverse kinematics (IK) solver that is fast, robust and consistent, and that provides all possible solutions. Currently, the Franka robot ar…