Robot Kinematics

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29 papers7 papers in the last four weeks, up 75% on the four weeks before. 0.0% of all new papers.

  1. 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

  2. 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

  3. 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

  4. 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

  5. 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

  6. 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

  7. 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

  8. 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

  9. 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

  10. 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

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

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

  12. 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

  13. 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

  14. 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

  15. 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

  16. 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

  17. 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

  18. 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

  19. KaRMA: A Kinematic Metric for Fine Manipulation Ability in Robotic Hands

    May 15, 2026Martin Peticco, Pulkit AgrawalDexterous ManipulationIn-Hand Manipulation

    Improbable AI Lab, Massachusetts Institute of Technology

  20. KinDER: A Physical Reasoning Benchmark for Robot Learning and Planning

    Apr 28, 2026Yixuan Huang, Bowen Li, Vaibhav Saxena +9Robot Task PlanningRobot Learning

    Princeton University · Carnegie Mellon University · Georgia Tech +3

  21. frax: Fast Robot Kinematics and Dynamics in JAX

    Apr 5, 2026Daniel Morton, Marco PavoneRobot KinematicsRobotics

    Daniel Morton and Marco Pavone are with the Departments of Mechanical Engineering and Aeronautics & Astronautics, Stanford University, Stanford, CA 94305.

  22. MIRROR: Visual Motion Imitation via Real-time Retargeting and Teleoperation with Parallel Differential Inverse Kinematics

    Mar 25, 2026Junheng Li, Lizhi Yang, Aaron D. AmesInverse KinematicsRobot Kinematics

    Department of Mechanical and Civil Engineering, California Institute of Technology, Pasadena, USA.

  23. MineRobot: An Actuator-Centered Kinematic Modeling and Solving Framework for Underground Mining Robots

    Mar 23, 2026Shengzhe Hou, Xinming Lu, Tianyu Zhang +2RoboticsInverse Kinematics

    College of Computer Science and Engineering, Shandong University of Science and Technology, Qingdao 266590, China · Shandong Lionking Software Co., Ltd., Tai’an 271000, China · College of Intelligent Equipment, Shandong University of Science and Technology, Tai’an 271000, China

  24. SPARK: Skeleton-Parameter Aligned Retargeting on Humanoid Robots with Kinodynamic Trajectory Optimization

    Mar 12, 2026Hanwen Wang, Qiayuan Liao, Bike Zhang +3Motion RetargetingRobot Motion Generation

    University of Wisconsin-Madison · University of California, Berkeley · Shanghai Innovation Institute (SII)

  25. KERV: Kinematic-Rectified Speculative Decoding for Embodied VLA Models

    Mar 2, 2026Zihao Zheng, Zhihao Mao, Maoliang Li +6Robot KinematicsEfficient VLA Model Inference

    School of Computer Science, Peking University, Beijing, China · School of Computer Science, China University of Geosciences (Wuhan), Wuhan, China

  26. Embedding Morphology into Transformers for Cross-Robot Policy Learning

    Feb 26, 2026Kei Suzuki, Jing Liu, Ye Wang +4Robot Policy LearningCross-Embodiment Robot Learning

    Mitsubishi Electric Research Laboratories (MERL), Cambridge, Massachusetts, USA.

  27. Analysis of a Cuspidal 6R Robot

    Feb 16, 2026Alexander Feeß, Martin WeißRobot KinematicsRobotics

    OTH Regensburg, 93053 Regensburg, Germany

  28. RoboSolver: A Multi-Agent Large Language Model Framework for Solving Robotic Arm Problems

    Feb 16, 2026Hamid Khabazi, Ali F. Meghdari, Alireza TaheriRobot KinematicsRobotics

    Social & Cognitive Robotics Laboratory, Center of Excellence in Design, Robotics, and Automation (CEDRA), Sharif University of Technology, Tehran, Iran · Chancellor, Fereshtegaan International Branch, Islamic Azad University, Tehran, Iran · Artificial Intelligence in Design and Complex Systems (AIDACS) Group, Sharif University of Technology, Tehran, Iran

  29. HJCD-IK: GPU-Accelerated Inverse Kinematics through Batched Hybrid Jacobian Coordinate Descent

    Oct 8, 2025Cael Yasutake, Andrew H. Liu, Zachary Kingston +1Inverse KinematicsRobot Kinematics

    Columbia University, NY, USA. · Purdue University, IN, USA. · Barnard College, Columbia University, NY, USA, & Dartmouth College, NH, USA.