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Riemannian Optimization for Distance Geometric Inverse Kinematics


Aug 31, 2021
Filip Marić , Matthew Giamou , Adam W. Hall , Soroush Khoubyarian , Ivan Petrović , Jonathan Kelly

* Submitted to IEEE Transactions on Robotics 

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Certifiably Optimal Monocular Hand-Eye Calibration


May 19, 2020
Emmett Wise , Matthew Giamou , Soroush Khoubyarian , Abhinav Grover , Jonathan Kelly

* 8 pages, 4 figures, Submitted to 2020 International Conference on Multisensor Fusion and Integration 

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Inverse Kinematics for Serial Kinematic Chains via Sum of Squares Optimization


Sep 20, 2019
Filip Maric , Matthew Giamou , Soroush Khoubyarian , Ivan Petrovic , Jonathan Kelly

* 11 pages, 4 figures 

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