A genetic algorithm optimizes a joint-limit-aware manipulability score to generate IK initial guesses for a dual-arm mobile-base robot, improving IK solve success on real tasks.
A weighted least-norm solution based scheme for avoiding joint limits for redundant manipulators,
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IK Seed Generator for Dual-Arm Human-like Physicality Robot with Mobile Base
A genetic algorithm optimizes a joint-limit-aware manipulability score to generate IK initial guesses for a dual-arm mobile-base robot, improving IK solve success on real tasks.