Global inverse kinematics via mixed-integer convex optimization

Semidefinite Descriptions of the Convex Hull of Rotation Matrices

(2015) J. Saunderson et al.   SIAM JOURNAL ON OPTIMIZATION

An Architecture for Online Affordance-based Perception and Whole-body Planning

(2014) Maurice Fallon et al.   Journal of Field Robotics

Global optimization of mixed-integer quadratically-constrained quadratic programs (MIQCQP) through piecewise-linear and edge-concave relaxations

(2012) Ruth Misener et al.   MATHEMATICAL PROGRAMMING

Task Space Regions

(2011) Dmitry Berenson et al.   INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH

A Probabilistic Particle-Control Approximation of Chance-Constrained Stochastic Predictive Control

(2010) Lars Blackmore et al.   IEEE Transactions on Robotics

A Linear Relaxation Technique for the Position Analysis of Multiloop Linkages

(2009) J.M. Porta et al.   IEEE Transactions on Robotics

Modeling disjunctive constraints with a logarithmic number of binary variables and constraints

(2009) Juan Pablo Vielma et al.   MATHEMATICAL PROGRAMMING

Inverse kinematic analysis of the general 6R serial manipulators based on double quaternions

(2009) Shuguang Qiao et al.   MECHANISM AND MACHINE THEORY

Kinematics of an offset 3-UPU translational parallel manipulator by the homotopy continuation method

(2008) S.M. Varedi et al.   NONLINEAR ANALYSIS-REAL WORLD APPLICATIONS