2 papers
cs.RO2026
LOInK: Learned Optimal Inverse Kinematics via Structured Neural Surrogate Models
Michael Somerfield, Damian Abood, Ruigang Wang +1
We introduce Learned Optimal Inverse Kinematics (LOInK), a method to generate approximately optimal solutions to an inverse kinematics problem. When trained on data consisting of s…
cs.RO2024
Path-Parameterised RRTs for Underactuated Systems
Damian Abood, Ian R. Manchester
We present a sample-based motion planning algorithm specialised to a class of underactuated systems using path parameterisation. The structure this class presents under a path para…