Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization

2 code implementations • 20 Sep 2019 • Filip Maric, Matthew Giamou, Soroush Khoubyarian, Ivan Petrovic, Jonathan Kelly

This is accomplished through a novel formulation of inverse kinematics as a nearest point problem, and with a fast sum of squares solver that exploits the sparsity of kinematic constraints for serial manipulators.

Robotics Optimization and Control

Sparse Bounded Degree Sum of Squares Optimization for Certifiably Globally Optimal Rotation Averaging

1 code implementation • 2 Apr 2019 • Matthew Giamou, Filip Maric, Valentin Peretroukhin, Jonathan Kelly

Estimating unknown rotations from noisy measurements is an important step in SfM and other 3D vision tasks.