SOURCE-LINKED INTELLIGENCE

Planning along Differentiable Charts of Constraint Manifolds with General-Purpose IK Solvers

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

Planning trajectories for robot manipulators under kinematic equality constraints restricts feasible motions to a measure-zero submanifold of the configuration space, requiring special algorithmic treatment. A promising strategy is parametrizing the set of feasible configurations using analytic inverse kinematics (IK). Bespoke analytic IK functions can be written to be differentiable, a necessary property for gradient-based trajectory optimization. But the vast majority of IK functions are computed by automated meta-solvers like IKFast, and are difficult to modify for differentiability. We pre

Read original source ↗ Open in workspace

recordType

paper

region

Global