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cs.RO2025
Certifiably Optimal Estimation and Calibration in Robotics via Trace-Constrained Semi-Definite Programming
Liangting Wu, Roberto Tron
Many nonconvex problems in robotics can be relaxed into convex formulations via Semi-Definite Programming (SDP) that can be solved to global optimality. The practical quality of th…
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…
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…