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cs.RO2024
Inverse Kinematics with Vision-Based Constraints
Liangting Wu, Roberto Tron
This paper introduces the Visual Inverse Kinematics problem (VIK) to fill the gap between robot Inverse Kinematics (IK) and visual servo control. Different from the IK problem, the…
eess.SY2024
Learning deep Koopman operators with convex stability constraints
Marc Mitjans, Liangting Wu, Roberto Tron
In this paper, we present a novel sufficient condition for the stability of discrete-time linear systems that can be represented as a set of piecewise linear constraints, which mak…
cs.RO2024
IKSPARK: Obstacle-Aware Inverse Kinematics via Convex Optimization
Liangting Wu, Roberto Tron
Inverse kinematics (IK) is central to robot control and motion planning, yet its nonlinear kinematic mapping makes it inherently nonconvex and particularly challenging under comple…