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Implementation and Testing of Inverse Kinematics on Robotic Arm
, 2019 Carter Franz
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Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180), 2002
Real-time control of the end-effector of a humanoid robot in external coordinates requires computationally efficient solutions of the inverse kinematics problem. In this context, this paper investigates inverse kinematics learning for resolved motion rate control (RMRC) employing an optimization criterion to resolve kinematic redundancies. Our learning
A. D'Souza, S. Vijayakumar, S. Schaal
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Real-time control of the end-effector of a humanoid robot in external coordinates requires computationally efficient solutions of the inverse kinematics problem. In this context, this paper investigates inverse kinematics learning for resolved motion rate control (RMRC) employing an optimization criterion to resolve kinematic redundancies. Our learning
A. D'Souza, S. Vijayakumar, S. Schaal
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Il Nuovo Cimento C, 2019
Fission is a unique tool to study nuclear properties. The SOFIA Collaboration takes advantage of the inverse kinematics technique to measure fission yields for a large range of systems, including exotic nuclei. Both fragments are fully identified in charge and mass, a unique feature.
Audouin, L. +3 more
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Fission is a unique tool to study nuclear properties. The SOFIA Collaboration takes advantage of the inverse kinematics technique to measure fission yields for a large range of systems, including exotic nuclei. Both fragments are fully identified in charge and mass, a unique feature.
Audouin, L. +3 more
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The Inverse Kinematic Problems
2017The problem of recovering the sound speed (or index of refraction) from travel time measurements is an important issue in determining the substructure of the Earth.
Alemdar Hasanov Hasanoğlu +1 more
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2010 International Conference on Machine and Web Intelligence, 2010
The kinematic problem of serial manipulators comprises the study of the relations between joint variables and Cartesian variables. We distinguish two problems, commonly referred to as the direct and kinematic problems. The former reduces matrix multiplications, and poses no major problem.
A. Serrat, M. Benyettou
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The kinematic problem of serial manipulators comprises the study of the relations between joint variables and Cartesian variables. We distinguish two problems, commonly referred to as the direct and kinematic problems. The former reduces matrix multiplications, and poses no major problem.
A. Serrat, M. Benyettou
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Bootstrapping inverse kinematics with Goal Babbling
2010 IEEE 9th International Conference on Development and Learning, 2010We present an approach to learn inverse kinematics of redundant systems without prior- or expert-knowledge. The method allows for an iterative bootstrapping and refinement of the inverse kinematics estimate. We show that the information structure induced by goal-directed exploration enables an efficient resolution of inconsistent samples solely from ...
Rolf, Matthias +2 more
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