A motion block smoothing method and device, electronic equipment and storage medium
CN121848409BActive Publication Date: 2026-05-2958 INTELLIGENT TECH (HANGZHOU) CO LTD
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- 58 INTELLIGENT TECH (HANGZHOU) CO LTD
- Filing Date
- 2026-03-16
- Publication Date
- 2026-05-29
AI Technical Summary
Technical Problem
Existing vision-language-action models suffer from discontinuities and lack of smoothness between action blocks when generating continuous action sequences, leading to jitter and instability during robot execution.
Method used
By flexibly segmenting action blocks into optional and mandatory segments, constructing interpolation functions and kinematic constraints, performing smooth interpolation, generating continuous and physically feasible interpolation trajectories, and eliminating abrupt motion changes between action blocks.
Benefits of technology
It effectively eliminates abrupt changes and jitters between action blocks, improves the stability of robot action execution and task success rate, and adapts to the physical motion constraints of the robot body.
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Smart Images
Figure CN121848409B_ABST
Abstract
The application provides a motion block smoothing processing method and device, electronic equipment and a storage medium. The method comprises the following steps: S1, segmenting a compulsory motion segment from a current motion block; S2, constructing an expression of an interpolation function of an interpolation trajectory and an interpolation curve expression of a plurality of kinematic parameters according to the compulsory motion segment; S3, performing smooth interpolation to determine an interpolation trajectory curve and a plurality of kinematic parameter curves; S4, constructing a target optimization function according to an optimization target and a motion constraint condition; S5, solving a constrained least square problem by using a partial derivative numerical approximation calculation method, and performing convergence judgment. If convergence is achieved, S6 is executed. If convergence is not achieved, the optimization variable is updated, and S3 is executed again. S6, outputting an optimal motion trajectory. Thus, the motion reasoning model output motion block motion mutation and jitter problems can be effectively eliminated, and the requirements of motion trajectory continuity, smoothness and physical executability can be met.
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