Glossaire
Inverse kinematics of soft robots in their environment

End effector

In robotics, an end effector is the end of a robotic arm. More generally in this document, we call end effector, points on the robot we want to reach a desired position and/or orientation.

Forward kinematics

In robotics, forward kinematics corresponds to the calculation of the end effector position and/or orientation given known variable actuation parameters.

Inverse kinematics

It is the reverse operation of forward kinematics, and is in general much more challenging. Inverse kinematics is the calculation of the variable actuation parameters needed to place the end effector in a desired position and/or orientation.

Quadratic progamming

Quadratic programming is a type of non-linear...