Abstract: The inverse kinematic model is an essential mathematical tool of the performance analysis and motion control for the parallel mechanism. A diversity of mathematical methods is used for ...

Abstract: Kinematic model predictive control (MPC) is well known for its simplicity and computational efficiency for path tracking of autonomous vehicles, however, it merely works well at low speed.

This repository contains a implementation of the Kinematic Bicycle model. The model can be defined with the following state-space representation, $$ \frac{d}{dt} \begin{pmatrix} x \\ y \\ \theta \\ v ...

This code was developed on Ubuntu 20.04 with Python 3.9, CUDA 11.3 and PyTorch 1.9.0. Our code relies on SMPL as the body model. Please download it from Max Planck ...