The Inverse Kinematics (IK) GVF
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I’ll be presenting at the 2025 IEEE International Conference on Robotics & Automation (ICRA) our latest research work: Yu Zhou, Jesús Bautista Villar, Weijia Yao, Hector Garcia de Marina, “Inverse Kinematics on Guiding Vector Fields for Robot Path Following”.
The novel IK-GVF framework presented in this paper provides full control over transient motion during path following and enables the induction of a desired behavior. In the simulation below, we demonstrate how it induces an oscillatory motion around the desired path.