Name
Abstract | ||
|---|---|---|
We propose a framework to generate static robot configurations satisfying a set of physical and geometrical constraints. This is done by formulating nonlinear constrained optimization problems over non-Euclidean manifolds and solving them. To do so, we present a new sequential quadratic programming solver working natively on general manifolds and propose an interface to easily formulate the proble... |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/TRO.2018.2830390 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
Robots,Manifolds,Task analysis,Convergence,Collision avoidance,Quadratic programming | Torque,Control engineering,Artificial intelligence,Solver,Sequential quadratic programming,Robot,Robotics,Manifold,Mathematics,Computation,Humanoid robot | Journal |
Volume | Issue | ISSN |
34 | 5 | 1552-3098 |
Citations | PageRank | References |
1 | 0.35 | 6 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Stanislas Brossette | 1 | 13 | 1.62 |
| Adrien Escande | 2 | 273 | 22.91 |
| Abderrahmane Kheddar | 3 | 1191 | 101.66 |