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Merge pull request #1 from bwingo47/main
Add webpage for Loik
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‎index.html‎

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<ul>
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<li><a href="publications/simple-contact-solver"> Contact solver of the Simple simulator.</a></li>
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<li><a href="publications/parallel-clqr"> Parallelized constrained Riccati solver for real-time nonlinear MPC.</a></li>
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<li><a href="publications/loik-solver"> Low complexity differential inverse kinematics solver.</a></li>
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</ul>
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</body>
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</html>

‎publications/loik-solver/README.md‎

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# LOIK
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This is the repository that contains source code for the RSS 2024 paper [Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective](https://simple-robotics.github.io/publications/loik-solver/index.html).
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If you find [Loik](https://github.com/Simple-Robotics/Loik) to be useful for your work please cite:
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```
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@article{loik2024,
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author = {Wingo, Bruce and Sathya, Ajay Suresha and Caron, Stephane and Hutchinson, Seth and Carpentier, Justin},
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title = {Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective.},
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journal = {Robotics: Science and Systems},
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year = {2024},
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}
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```

‎publications/loik-solver/index.html‎

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<!DOCTYPE html>
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<html>
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<head>
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<meta charset="utf-8">
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<meta name="description"
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content="Low-complexity differential inverse kinematics solver">
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<meta name="keywords" content="Inverse kinematics, Constrained quadratic program, Augmented Lagrangian methods">
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<meta name="viewport" content="width=device-width, initial-scale=1">
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<title>loik</title>
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<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
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rel="stylesheet">
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<link rel="stylesheet" href="./static/css/bulma.min.css">
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<link rel="stylesheet" href="./static/css/bulma-carousel.min.css">
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<link rel="stylesheet" href="./static/css/bulma-slider.min.css">
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<link rel="stylesheet" href="./static/css/fontawesome.all.min.css">
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<link rel="stylesheet"
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href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
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<link rel="stylesheet" href="./static/css/index.css">
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<link rel="icon" href="./static/images/favicon.svg">
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<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
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<script defer src="./static/js/fontawesome.all.min.js"></script>
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<script src="./static/js/bulma-carousel.min.js"></script>
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<script src="./static/js/bulma-slider.min.js"></script>
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<script src="./static/js/index.js"></script>
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</head>
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<body>
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<nav class="navbar" role="navigation" aria-label="main navigation">
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<div class="navbar-brand">
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<a role="button" class="navbar-burger" aria-label="menu" aria-expanded="false">
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<span aria-hidden="true"></span>
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<span aria-hidden="true"></span>
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<span aria-hidden="true"></span>
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</a>
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</div>
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<div class="navbar-menu">
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<div class="navbar-start" style="flex-grow: 1; justify-content: center;">
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<a class="navbar-item" href="https://simple-robotics.github.io">
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<span class="icon">
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<i class="fas fa-home"></i>
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</span>
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</a>
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<div class="navbar-item has-dropdown is-hoverable">
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<a class="navbar-link">
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More Research
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</a>
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<div class="navbar-dropdown">
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<a class="navbar-item" href="https://hal.science/hal-04443056/document">
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Constrained ABA
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</a>
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</div>
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</div>
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</div>
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</div>
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</nav>
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<section class="hero">
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<div class="hero-body">
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<div class="container is-max-desktop">
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<div class="columns is-centered">
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<div class="column has-text-centered">
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<h1 class="title is-1 publication-title">Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective</h1>
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<div class="is-size-5 publication-authors">
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<span class="author-block">
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<a href="https://bwingo47.github.io">Bruce Wingo</a><sup>1, 2</sup>,</span>
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<span class="author-block">
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<a href="https://scholar.google.com/citations?user=A00LDswAAAAJ">Ajay Suresha Sathya</a><sup>1</sup>,</span>
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<span class="author-block">
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<a href="https://scaron.info/">Stephane Caron</a><sup>1</sup>,</span>
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<span class="author-block">
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<a href="https://faculty.cc.gatech.edu/~seth/">Seth Hutchinson</a><sup>2</sup>,</span>
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<span class="author-block">
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<a href="https://jcarpent.github.io">Justin Carpentier</a><sup>1</sup>,</span>
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</div>
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<div class="is-size-5 publication-authors">
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<span class="author-block"><sup>1</sup>Authors are with INRIA Willow.</span>
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</div>
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<div class="is-size-5 publication-authors">
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<span class="author-block"><sup>1</sup>Authors are with Georgia Tech IRIM.</span>
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</div>
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<div class="column has-text-centered">
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<div class="publication-links">
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<!-- PDF Link. -->
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<span class="link-block">
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<a href="./static/paper/loik2024rss.pdf"
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class="external-link button is-normal is-rounded is-dark">
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<span class="icon">
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<i class="fas fa-file-pdf"></i>
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<span>Paper</span>
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<a href="https://hal.science/hal-04607809"
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class="external-link button is-normal is-rounded is-dark">
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class="external-link button is-normal is-rounded is-dark">
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<span>arXiv</span>
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<span>Video</span>
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<!-- Code Link. -->
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<span class="link-block">
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<a href="https://github.com/Simple-Robotics/Loik"
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class="external-link button is-normal is-rounded is-dark">
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<span>Code</span>
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<!-- Paper video. -->
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frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
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<!--/ Paper video. -->
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<!-- Abstract. -->
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<h2 class="title is-3">Abstract</h2>
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<div class="content has-text-justified">
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<p>
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Differential inverse kinematics is a core robotics problem whose state-of-the-art solutions are currently based on quadratic programming. we revisit it from the perspective of augmented Lagrangian methods (AL) and the related alternating direction method of multipliers (ADMM).
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</p>
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<p>
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By embracing AL techniques in the spirit of the rigid-body dynamics algorithms proposed by Featherstone, we introduce a method that solves equality-constrained differential IK problems with linear-time complexity. Combined with the ADMM strategy popularized by OSQP, we handle the same class of problems as QP-based differential IK, but scaling linearly with problem dimensions rather than cubically.
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</p>
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<p>
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We implement our approach as C++ open-source software and evaluate it on a benchmark of robotic-arm and humanoid-locomotion tasks. We measure computation times 2--3$\times$ shorter than the QP-based state of the art.
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</p>
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<p>
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Our code is made open-source at <a href="https://github.com/Simple-Robotics/Loik">https://github.com/Simple-Robotics/Loik</a>.
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<!--/ Abstract. -->
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<!-- Benchmarks. -->
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<h2 class="title is-3">Benchmarks</h2>
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<!--/ Benchmarks. -->
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<h2 class="title is-3">Related Links</h2>
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<div class="content has-text-justified">
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This work heavily relies on the <a
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href="https://github.com/stack-of-tasks/pinocchio">Pinocchio</a> library.
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<!--/ Concurrent Work. -->
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</section>
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<section class="section" id="BibTeX">
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<div class="container is-max-desktop content">
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<h2 class="title">BibTeX</h2>
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<pre><code>@article{loik2024,
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author = {Wingo, Bruce and Sathya, Ajay Suresha and Caron, Stephane and Hutchinson, Seth and Carpentier, Justin},
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title = {Linear-time Differential Inverse Kinematics: an Augmented Lagrangian Perspective.},
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journal = {Robotics: Science and Systems},
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year = {2024},
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}</code></pre>
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</div>
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<footer class="footer">
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<div class="container">
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<div class="content has-text-centered">
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<a class="icon-link"
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href="./static/paper/simplecontacts2024.pdf">
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<i class="fas fa-file-pdf"></i>
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</a>
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<a class="icon-link" href="https://github.com/Simple-Robotics" class="external-link" disabled>
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<i class="fab fa-github"></i>
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This website is licensed under a <a rel="license"
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href="http://creativecommons.org/licenses/by-sa/4.0/">Creative
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Commons Attribution-ShareAlike 4.0 International License</a>.
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</p>
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<p>
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We thank <a
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href="https://github.com/nerfies/nerfies.github.io">Nerfies</a> for creating the template of this webpage.
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You are free to borrow the <a
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href="https://github.com/simple-robotics.github.io/publications/simple-contact-solver">source code</a>,
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we just ask that you link back to the <a
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href="https://github.com/nerfies/nerfies.github.io">Nerfies</a> page in the footer.
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</p>
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</div>
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</div>
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</footer>
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</html>

‎publications/loik-solver/static/css/bulma-carousel.min.css‎

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