Abstract
Seungsu Kim, Julien Perez |
IEEE International Conference on Robotics and Automation 2021 (ICRA), Xi’an, China, 30 May–5 June 2021 |
Abstract
Validating the kinematic feasibility of a planned robot motion and finding corresponding inverse solutions are time-consuming processes, especially for long-horizon manipulation tasks. Most existing approaches are based on solving iterative gradient-based optimization, so the processes are time-consuming and have a high risk of falling in local minima. In this work, we propose a unified framework to learn a kinematic feasibility model and a one-shot inverse mapping model for a redundant robot manipulator. Once they are trained, the models can compute the kinematic reachability of a target pose and its inverse solutions without iterative process. We validate our approach using a 7-DOF robot arm with an object grasping application.
Details on the gender equality index score 2023 (related to year 2022) for NAVER France of 81/100.
NAVER France targets are as follows:
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Index NAVER France de l’égalité professionnelle entre les femmes et les hommes pour l’année 2023 au titre des données 2022 : 81/100
Détail des indicateurs :
Les objectifs de progression de NAVER France sont :
NAVER LABS Europe 6-8 chemin de Maupertuis 38240 Meylan France Contact
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