IKSPARK casts obstacle-aware inverse kinematics as an SDP with rank-1 recovery and convexified mixed-integer obstacle constraints, reporting higher success rates than nonlinear optimizers across robot morphologies.
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IKSPARK: Obstacle-Aware Inverse Kinematics via Convex Optimization
IKSPARK casts obstacle-aware inverse kinematics as an SDP with rank-1 recovery and convexified mixed-integer obstacle constraints, reporting higher success rates than nonlinear optimizers across robot morphologies.