https://a2r-lab.github.io/tags/inverse-kinematics/ Recent content in Inverse Kinematics on A²R Lab Hugo -- gohugo.io en-us © {year} Brian Plancher Wed, 30 Sep 2026 00:00:00 +0000 https://a2r-lab.github.io/publication/hjcdik/ Wed, 30 Sep 2026 00:00:00 +0000 https://a2r-lab.github.io/publication/hjcdik/ We introduce HJCD-IK, a GPU-accelerated, sampling-based hybrid solver. By pairing a novel orientation-aware greedy coordinate descent initialization with Jacobian-based polishing and a parallel collision filter, our method achieves up to order-of-magnitude gains in speed and accuracy over state-of-the-art solvers, consistently finding collision-free solutions on the accuracy-latency Pareto frontier, while producing a diverse distribution of high-quality samples. We validate our solver on a physical Franka manipulator and release our code open-source.