RCIK: Real-Time Collision-Free Inverse Kinematics Using a Collision-Cost Prediction Network
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DOI: 10.1109/lra.2021.3128238
Abstract: In this letter, we present real-time collision-free inverse kinematics (RCIK) that accurately performs consecutively provided six-degrees-of-freedom commands in environments containing static and dynamic obstacles. Our method is based on an optimization-based IK approach to generate… read more here.
Keywords: cost prediction; kinematics; collision cost; collision ... See more keywords