TA: 01/30 Blog

It is really impressive that the Jacobian pseudo inverse method actually relates to the gradient method of IK. I thought of several ways to add restrictions:

  1. minimize the L0 norm of theta, to try to rotate less joints to reach to the destination.
  2. minimize L1/L2 norm of theta, to keep the total rotated angle small.

They kind of make sense to me as animals tends to move less and use the least amount of energy for a certain goal. But I’m not sure about the actual results.

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