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An inverse dynamics solution method and device applied to a humanoid skeleton

A technology of inverse dynamics and solving device, applied in the field of inverse dynamics, can solve the problems of multi-computer resources, consumption, inability to deal with humanoid skeleton tree structure, etc.

Active Publication Date: 2020-01-14
完美鲲鹏(北京)动漫科技有限公司
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  • Claims
  • Application Information

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Problems solved by technology

It is characterized by high work efficiency and greatly reduces the number of joints that need to be manually controlled. The disadvantage is that solving equations requires more computer resources, especially when the number of joints increases.
[0003] However, the existing inverse dynamics calculation methods can solve the problem of calculating the joint orientation after specifying the end pose, but these methods can only be applied to simple chain skeletons, and cannot deal with the complex tree structure of humanoid skeletons

Method used

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  • An inverse dynamics solution method and device applied to a humanoid skeleton
  • An inverse dynamics solution method and device applied to a humanoid skeleton
  • An inverse dynamics solution method and device applied to a humanoid skeleton

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[0031] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that unless specifically stated otherwise, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0032] The following description of at least one exemplary embodiment is actually only illustrative, and in no way serves as any limitation to the present invention and its application or use.

[0033] The technologies, methods, and equipment known to those of ordinary skill in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be regarded as part of the specification.

[0034] In all examples shown and discussed herein, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of th...

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Abstract

The invention discloses an inverse kinematics calculation method and device applied to a humanoid framework. The method comprises: setting an initial attitude of the humanoid framework; setting a target attitude of at least one joint in the humanoid framework and a calculation parameter of the corresponding joint; carrying out inverse kinematics calculation processing according to the initial attitude, the target attitude and the calculation parameter, so as to obtain a final attitude of the humanoid framework. Therefore, a complicated tree-shaped humanoid framework can reach a target state, and independent inverse kinematics calculation on any joint or whole-body inverse kinematics calculation can be carried out.

Description

Technical field [0001] The present invention relates to the field of inverse dynamics. More specifically, the present invention relates to a method and device for inverse dynamics calculation applied to a humanoid skeleton. Background technique [0002] Inverse dynamics is a method to determine the entire bone chain by first determining the position of the child bone, and then deducing the position of the n-level parent bone on the bone chain where it is located. Inverse kinematics is based on the final position and angle of some sub-joints to reverse the shape of the entire skeleton. It is characterized by high work efficiency and greatly reduces the number of joints that need to be manually controlled. The disadvantage is that it takes more computer resources to solve the equations, especially when the number of joints increases. [0003] However, the current inverse dynamics calculation methods are sufficient to solve the problem of calculating the joint orientation after speci...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/10
CPCG06F17/10
Inventor 储备何文峰杜宇欣贺迪
Owner 完美鲲鹏(北京)动漫科技有限公司