HJCD-IK: GPU-Accelerated Inverse Kinematics through Batched Hybrid Jacobian Coordinate Descent

Cael Yasutake, Andrew H. Liu, Zachary Kingston +1

Inverse Kinematics (IK) is a core problem in robotics, in which joint configurations are found to achieve a (collision-free) desired end-effector pose. Modern IK solvers face a fun…