Preprint
Sep 2026
Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers
Planning trajectories for robot manipulators under kinematic equality constraints restricts feasible motions to a measure-zero submanifold of the configuration space, requiring special algorithmic treatment. A promising strategy is parametrizing the set of feasible configurations using analytic inverse kinematics (IK)....
Thomas Cohn, Seiji Shaw, Harel Biggie et al.
· 2 citations