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most citedRoboDuet: Learning a Cooperative Policy for Whole-body Legged Loco-Manipulation

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cs.RO2025

HL-IK: A Lightweight Implementation of Human-Like Inverse Kinematics in Humanoid Arms

Bingjie Chen, Zihan Wang, Zhe Han +3

Traditional IK methods for redundant humanoid manipulators emphasize end-effector (EE) tracking, frequently producing configurations that are valid mechanically but not human-like.…