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Riemannian optimization for distance-geometric inverse kinematics
Solving the inverse kinematics problem is a fundamental challenge in motion planning,
control, and calibration for articulated robots. Kinematic models for these robots are typically …
control, and calibration for articulated robots. Kinematic models for these robots are typically …
Convex iteration for distance-geometric inverse kinematics
Inverse kinematics (IK) is the problem of finding robot joint configurations that satisfy
constraints on the position or pose of one or more end-effectors. For robots with redundant …
constraints on the position or pose of one or more end-effectors. For robots with redundant …
Fully automatic tracking of native glenohumeral kinematics from stereo-radiography
The current work introduces a system for fully automatic tracking of native glenohumeral
kinematics in stereo-radiography sequences. The proposed method first applies …
kinematics in stereo-radiography sequences. The proposed method first applies …
The hierarchical newton's method for numerically stable prioritized dynamic control
This work links optimization approaches from hierarchical least-squares programming to
instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical …
instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical …
Bridging the Human to Robot Dexterity Gap through Object-Oriented Rewards
Training robots directly from human videos is an emerging area in robotics and computer
vision. While there has been notable progress with two-fingered grippers, learning …
vision. While there has been notable progress with two-fingered grippers, learning …
Rigid Body Adversarial Attacks
Due to their performance and simplicity, rigid body simulators are often used in applications
where the objects of interest can considered very stiff. However, no material has infinite …
where the objects of interest can considered very stiff. However, no material has infinite …
IKSPARK: An Inverse Kinematics Solver using Semidefinite Relaxation and Rank Minimization
Inverse kinematics (IK) is a fundamental problem frequently occurred in robot control and
motion planning. However, the problem is nonconvex because the kinematic map between …
motion planning. However, the problem is nonconvex because the kinematic map between …
An SDP Optimization Formulation for the Inverse Kinematics Problem
Inverse kinematics (IK) is an important problem in robot control and motion planning;
however, the nonlinearity of the map from joint angles to robot configurations makes the …
however, the nonlinearity of the map from joint angles to robot configurations makes the …
Semidefinite Relaxations for Geometric Problems in Robotics
MP Giamou - 2023 - search.proquest.com
Mobile robots perceive and move through the three-dimensional space of the approximately
Euclidean world we share with them. In order to safely and accurately accomplish their …
Euclidean world we share with them. In order to safely and accurately accomplish their …
Time-optimal path planning of multi-axis cnc processes using variability of orientation
In multi-axis processes, such as welding or 3D printing, the determination of the orientation
of the tool relative to the workpiece is usually determined by technology-dependent …
of the tool relative to the workpiece is usually determined by technology-dependent …