Robot Kinematics

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41 papers10 papers in the last four weeks, up 25% on the four weeks before. 0.1% of all new papers.

  1. Whole-Body Elasto-Geometrical Calibration of Wheeled Humanoid Robots Using a Shared-Waist Dual-Chain Model

    Nov 5, 2026Pengxin Zha, Yi Lu, Haojun Ma +5Robot CalibrationRobotics

    The authors are with AgiBot, China.

  2. Kinematic analysis of a double-closed-loop four-bar chain-based leg for a multimodal quadruped-pentarotor robot

    Nov 5, 2026Prashant Raturi, Santhakumar MohanRobot KinematicsQuadruped Locomotion

    Department of Mechanical Engineering and Center for Robotics and Control, Indian Institute of Technology Palakkad, Kerala, India

  3. Curvature by Design: A Support Structure for Continuum Robots

    Nov 4, 2026Justus Sagemüller, Harald Minde Hansen, Kristin Y. PettersenContinuum Robot DesignMechanism Design

    Department of Mathematics, KTH Royal Institute of Technology, Stockholm, Sweden · Mechatronics, Robotics and Operation Section, European Organization for Nuclear Research (CERN), Meyrin, Switzerland · Department of Engineering Cybernetics, Norwegian University of Science and Technology (NTNU), Trondheim, Norway

  4. Flexibility-Aware Robotic Manipulation: Deformation Estimation, Kinematics, and Control via Distributed Inertial Measurement

    Oct 30, 2026Amir Hossein Barjini, Sadeq Yaqubi, Pauli Mustalahti +1Robotic ManipulationRobotic Control

    Authors are with the Department of Engineering and Natural Sciences, Tampere University, Finland.

  5. Physically Constrained Kinematic Calibration for High-Precision Robotic Needle Guidance

    Oct 30, 2026Prabhu Nithin Gollapudi, Andreas Maier, Franziska Mathis-Ullrich +3Robot KinematicsSurgical Robotics

    Friedrich-Alexander-Universität Erlangen-Nürnberg, Erlangen, Germany · Precision Medtech Co., Ltd, Beijing, China

  6. An Empirical Study of Wrist-Target Construction and Joint-Angle Limits in Humanoid Arm Retargeting

    Oct 27, 2026MinJun ChangMotion RetargetingRobot Kinematics

    Georgia Institute of Technology

  7. Kinematic Constraint-Referenced Evaluation for Articulated Object Manipulation

    Oct 27, 2026Baptiste Bonin, Caro Strickland, Audrey DurandArticulated Object ManipulationRobotic Policy Evaluation

    Universit´e Laval · Mila – Quebec AI Institute · CIFAR AI Chair

  8. Quantum Closed Loop Inverse Kinematics Through Hilbert-Space Encoding of Robot Kinematics

    Oct 24, 2026Andrea Morghen, Pierluigi Arpenti, Roberto Schiattarella +2Robot KinematicsInverse Kinematics

    University of Naples Federico II, Naples, Italy

  9. Joint-Angle Invariance of Jacobian-Based Performance Indices for Serial Robotic Manipulators

    Oct 21, 2026Yaohua Zhou, Mingdao Lin, Jiayu Song +4RoboticsRobot Kinematics

    College of Information Science and Technology, Eastern Institute of Technology, Ningbo 315200, China · Department of Automation, University of Science and Technology of China, Hefei 230027, China · Department of Electrical and Electronic Engineering, The Hong Kong Polytechnic University, Hong Kong SAR, China +3

  10. S-Rolling: Steerable Rolling Gaits for Twistable Snake Robots in Low-Clearance Environments

    Oct 21, 2026Qingling Fan, Zhongqiang RenRobot LocomotionRobot Motion Generation

    Global College, Shanghai Jiao Tong University, China

  11. PHD-Hand: A Printable Humanoid Dexterous Hand with Linkage-Driven 3-DOA Digits

    Oct 21, 2026Neel Adwani, Muhaiminul Islam Akash, Saffia Ouali +2Robotic Hand DesignRobotic Manipulation

    Electrical and Computer Engineering, New Jersey Institute of Technology (NJIT) · Union County Magnet High School, USA

  12. CusADi2: Latency-Optimized Batch Computation of Robot Kinematics, Jacobians, and Hessians on the GPU

    Oct 18, 2026John Viljoen, Lasse Peters, Masayoshi Tomizuka +1GPU AccelerationRobot Kinematics

    Department of Mechanical Engineering, University of California, Berkeley, CA, USA.

  13. Analytic Robot Self-Model: Learning Screw-Axis Kinematics for Rendering and Model-Based Control

    Oct 11, 2026Xu Chen, Ning TanRoboticsRobot Kinematics

    School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China

  14. MorphIK: Morphology-Conditioned Neural Inverse Kinematics for Unknown Robots

    Sep 24, 2026Lennart Clasmeier, Jan Gerrit Habekost, Cornelius Weber +1Cross-Embodiment Robot LearningInverse Kinematics

    Knowledge Technology Group, Department of Informatics, University of Hamburg, Hamburg, Germany

  15. Surgical Kinematics from Monocular Video with Learned Articulated Motion Constraints

    Sep 23, 2026Mehmet Kerem Turkcan, Soham Samal, Zoran KosticSurgical RoboticsRobot Kinematics

    Columbia University, New York, NY, USA

  16. Design and Modeling of a Single-Port Three-Arm Robotic Tool for Minimally Invasive Neurosurgery

    Sep 22, 2026Nazia H. Dana, Harith S. Gallage, Ismail A. Auta +2Robot KinematicsRobotics

    Robotics and Healthcare Systems (RoboHS) Laboratory, Department of Mechanical Engineering, University of Nevada, Las Vegas (UNLV), Las Vegas, NV, USA

  17. LOInK: Learned Optimal Inverse Kinematics via Structured Neural Surrogate Models

    Sep 18, 2026Michael Somerfield, Damian Abood, Ruigang Wang +1Inverse KinematicsRobot Kinematics

    Australian Robotic Inspection and Asset Management (ARIAM) Hub, the Australian Centre for Robotics (ACFR), and the School of Aerospace, Mechanical and Mechatronic Engineering, The University of Sydney, Australia

  18. Approximating High Dimensional Self-Motion Manifolds via Deep Generative Models

    Sep 16, 2026Haitao Gao, Yang Song, Liao WuManifold LearningInverse Kinematics

    School of Mechanical and Manufacturing Engineering, University of New South Wales, Sydney, Australia · School of Computer Science and Engineering, University of New South Wales, Sydney, Australia

  19. Structure-Preserving Quantum Circuit Architectures for Robot Kinematics

    Sep 14, 2026Andrea Morghen, Pierluigi Arpenti, Roberto Schiattarella +2Robot KinematicsRobotics

    Department of Electrical Engineering and Information Technology (DIETI), University of Naples Federico II, 80125 Naples, Italy · Department of Physics “Ettore Pancini”, University of Naples Federico II, 80126 Naples, Italy

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

    Sep 9, 2026Thomas Cohn, Seiji Shaw, Harel Biggie +3Constrained Motion PlanningTrajectory Optimization

    Computer Science and Artificial Intelligence Laboratory (CSAIL), Massachusetts Institute of Technology, Cambridge, MA, USA

  21. Lie-Algebraic Bell Recurrences for Arbitrary-Order Twist Jets and Parallel-Mechanism Closure

    Sep 9, 2026Daniel ConduracheMechanism DesignRobot Kinematics

    Gheorghe Asachi Technical University of Iaşi, Iaşi, Romania

  22. Geometric analysis of generic 3R robots, and necessary and sufficient conditions for a class of orthogonal robots to have four IKS

    Aug 31, 2026Durgesh Haribhau Salunkhe, Abhilash NayakRoboticsInverse Kinematics

  23. Inverse kinematic solution for generic 3R positional robots using Conformal Geometric Algebra

    Aug 31, 2026Abhilash Nayak, Durgesh Haribhau SalunkheInverse KinematicsRobot Kinematics

  24. KING: Embodiment-Aware Kinematic Graph Neural Network for Unified Motion Representation of Legged and Wheeled Robots

    Aug 2, 2026Taku Okawara, Aoki Takanose, Kenji Koide +2Graph Neural NetworksRobot Kinematics

    Department of Information Technology and Human Factors, the National Institute of Advanced Industrial Science and Technology, Tsukuba, Ibaraki, Japan

  25. KAI: A Kinematic-Aware Interface for Data-Efficient Articulated Object Manipulation

    Jul 27, 2026Yaping Li, Zhaxizhuoma, Qiaojun Yu +3Data-Efficient Robot LearningRobot Learning

    The Chinese University of Hong Kong · Shanghai AI Laboratory · Shanghai Jiao Tong University

  26. The Twist Decomposition of Serial Robots Under Lower-Mobility Tasks

    Jul 21, 2026Luc Baron, Damien ChablatRobot KinematicsRobotics

    IICiMed · Polytechnique Montréal, box 6079, sta. CV, QC, H3C 3A7 Canada · box 6079, sta. CV, QC, H3C 3A7 Canada +2

  27. IOI: Decoupling Kinematics and Physics for Interactive World Models

    Jun 22, 2026Chengyu Bai, Peidong Jia, Tiecheng Guo +11Action-Conditioned Video GenerationWorld Models for Robotics

    1Beijing Innovation Center of Humanoid Robotics · 2Peking University

  28. Generating Robot Hands from Human Demonstrations

    Jun 18, 2026Sha Yi, Nicklas Hansen, Xueqian Bai +3Robotic Hand DesignRobotic Manipulation

    University of California San Diego · Amazon Frontier AI & Robotics

  29. MimicIK: Real-Time Generative Inverse Kinematics from Teleoperation with FK Consistency

    Jun 13, 2026Jiahao Yang, Shenhao Yan, Fan Feng +5Robotic ManipulationInverse Kinematics

    1Ising AI · 2CUHK-Shenzhen · Ising AI

  30. RAM: Reachability Across Morphologies

    Jun 8, 2026Tim Walter, Xinyu Chen, Jonathan Külz +1Reachability AnalysisImplicit Neural Representations

    Department of Computer Engineering, Technical University Munich, Germany · German Electron Synchrotron, University of Hamburg, Germany