2025
A Kinematics Optimization Framework with Improved Computational Efficiency for Task-Based Optimum Design of Serial Manipulators in Cluttered Environments
ICRA 2025
It is challenging to find optimum kinematic designs for non-standard robotic manipulators, e.g., medical, nuclear, and space manipulators, which are demanded to adapt to arbitrary complex tasks in constraints. Such design optimization can be modelled as a multi-dimensional non-convex optimization pr