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Main Authors:	Rudrasamudram, Vishnu, Malaichamee, Hariharasudan
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	https://arxiv.org/abs/2604.13405
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Analytically Informed Inverse Kinematics Solution at Singularities
by: Mueller, Andreas
Published: (2024)

J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators
by: Guptasarma, Shivani, et al.
Published: (2025)

IK-Geo: Unified Robot Inverse Kinematics Using Subproblem Decomposition
by: Elias, Alexander J., et al.
Published: (2022)

Analytical Solution for Inverse Kinematics
by: Kalaycioglu, Serdar, et al.
Published: (2024)

Generative Graphical Inverse Kinematics
by: Limoyo, Oliver, et al.
Published: (2022)

IKDiffuser: a Diffusion-based Generative Inverse Kinematics Solver for Kinematic Trees
by: Zhang, Zeyu, et al.
Published: (2025)

Whole-Body Inverse Kinematics with Graph Diffusion
by: Huang, Helong, et al.
Published: (2026)

Constrained Bimanual Planning with Analytic Inverse Kinematics
by: Cohn, Thomas, et al.
Published: (2023)

Automatic Geometric Decomposition for Analytical Inverse Kinematics
by: Ostermeier, Daniel, et al.
Published: (2024)

Propagative Distance Optimization for Constrained Inverse Kinematics
by: Chen, Yu, et al.
Published: (2024)

Control Barrier Functions in Dynamic UAVs for Kinematic Obstacle Avoidance: A Collision Cone Approach
by: Tayal, Manan, et al.
Published: (2023)

Direct Kinematics, Inverse Kinematics, and Motion Planning of 1-DoF Rational Linkages
by: Huczala, Daniel, et al.
Published: (2024)

Inverse Kinematics with Vision-Based Constraints
by: Wu, Liangting, et al.
Published: (2024)

A Framework for Combining Optimization-Based and Analytic Inverse Kinematics
by: Cohn, Thomas, et al.
Published: (2026)

P-FABRIK: A General Intuitive and Robust Inverse Kinematics Method for Parallel Mechanisms Using FABRIK Approach
by: Cao, Daqian, et al.
Published: (2025)

Singularity-Avoidance Control of Robotic Systems with Model Mismatch and Actuator Constraints
by: Wu, Mingkun, et al.
Published: (2024)

Image-to-Joint Inverse Kinematic of a Supportive Continuum Arm Using Deep Learning
by: Sepahvand, Shayan, et al.
Published: (2024)

Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions
by: Forghani, Kimia, et al.
Published: (2026)

Predictive Kinematic Coordinate Control for Aerial Manipulators based on Modified Kinematics Learning
by: Li, Zhengzhen, et al.
Published: (2025)

Planning and Inverse Kinematics of Hyper-Redundant Manipulators with VO-FABRIK
by: Morasso, Cristian, et al.
Published: (2024)

Integrated Hierarchical Decision-Making in Inverse Kinematic Planning and Control
by: Pfeiffer, Kai, et al.
Published: (2024)

Hybrid Classical/RL Local Planner for Ground Robot Navigation
by: Sharma, Vishnu D., et al.
Published: (2024)

Admittance Controller Complemented with Real-time Singularity Avoidance for Rehabilitation Parallel Robots
by: Pulloquinga, Jose L., et al.
Published: (2024)

ViIK: Flow-based Vision Inverse Kinematics Solver with Fusing Collision Checking
by: Meng, Qinglong, et al.
Published: (2024)

A Unified Framework for Kinematic Simulation of Rigid Foldable Structures
by: Kwak, Dongwook, et al.
Published: (2026)

Embodied Self-Supervised Learning (EMSSL) with Sampling and Training Coordination for Robot Arm Inverse Kinematics Model Learning
by: Weiming, Qu, et al.
Published: (2023)

An Optimization-Based Inverse Kinematics Solver for Continuum Manipulators in Intricate Environments
by: Sun, Yinan, et al.
Published: (2024)

A Type II Singularity Avoidance Algorithm for Parallel Manipulators using Output Twist Screws
by: Pulloquinga, Jose L., et al.
Published: (2024)

HL-IK: A Lightweight Implementation of Human-Like Inverse Kinematics in Humanoid Arms
by: Chen, Bingjie, et al.
Published: (2025)

Contact-based Grasp Control and Inverse Kinematics for a Five-fingered Robotic Hand
by: Umeike, Robinson
Published: (2025)

Inverse Kinematics for Neuro-Robotic Grasping with Humanoid Embodied Agents
by: Habekost, Jan-Gerrit, et al.
Published: (2024)

IKSPARK: Obstacle-Aware Inverse Kinematics via Convex Optimization
by: Wu, Liangting, et al.
Published: (2024)

Inverse Kinematics on Guiding Vector Fields for Robot Path Following
by: Zhou, Yu, et al.
Published: (2025)

A Unified Calibration Framework for High-Accuracy Articulated Robot Kinematics
by: Tobuschat, Philip, et al.
Published: (2026)

Modelling and Inverse Kinematics of Tendon Driven Continuum Robots using Cascade Correlation
by: Ashok Madan, et al.
Published: (2022)

Adaptive Inverse Kinematics Framework for Learning Variable-Length Tool Manipulation in Robotics
by: Kothavale, Prathamesh, et al.
Published: (2025)

Intelligent Singularity Avoidance in UR10 Robotic Arm Path Planning Using Hybrid Fuzzy Logic and Reinforcement Learning
by: Chen, Sheng-Kai, et al.
Published: (2026)

CppFlow: Generative Inverse Kinematics for Efficient and Robust Cartesian Path Planning
by: Morgan, Jeremy, et al.
Published: (2023)

Fast Functionally Redundant Inverse Kinematics for Robotic Toolpath Optimisation in Manufacturing Tasks
by: Razjigaev, Andrew, et al.
Published: (2025)

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