Kiru Lab / Embodied Control: Kinematics and the Inverse Jacobian
Inverse Kinematics
The inverse Jacobian, damped least squares, null-space redundancy, and learned controllers.
In this module you will
- Implement iterative IK with the pseudoinverse
- Stabilize it with damping and explain the tradeoff
- Exploit redundancy through null-space projection
Inverse Jacobian Methods
The centerpiece: solve the hard direction by iterating the easy one, exactly like gradient descent.
Hands-On Lab · 55m
Redundancy and the Null Space
With more joints than task dimensions there are infinitely many answers. Choose among them on purpose.
Concept · 35m
Learned Controllers and the Gap to Reality
When you learn the inverse map with a network instead of solving it, you inherit every failure mode from earlier tracks.
Bridge · 30m