APA citation: Rakita, D., Mutlu, B., & Gleicher, M. (2018, June). RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion. In *Robotics: Science and Systems (pp. 26-30)*.

This paper highlights the following:

• Technique that is used to create smooth feasible motions that avoid joint-space discontinuities, self-collisions, and kinematic singularities
• Normalization procedure to satisfy multi-objective optimization constraints
• Using a neural network to approximate distance from collision states, and also using SVD to approximate distance to singular configurations

APA citation: Bodden, C., Rakita, D., Mutlu, B., & Gleicher, M. (2016, August). Evaluating intent-expressive robot arm motion. *In 2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)* (pp. 658-663). IEEE.

Four major contributions of this paper include:

• Provides insight of the effects of different kinematics (e.g., straight, simple, *legible*)
• Focuses mainly on the performance and quality of Human-Robot collaboration, differentiating from highlighting only the functional objectives (e.g., minimizing time, maximizing efficiency)
• Entails various evaluation metrics that measure both absolute and relative time (or path it took) for the user to correctly predict robot intent
• Guides future research to investigate factors that shape observer performance (e.g., participant's vantage point, robot degree-of-freedom)