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US 12,454,049 B2Granted
Inverse kinematics computational solver system, method, and apparatus
AssigneeKrux Kinematics LLC
InventorJess T. Leonard
Life of this patent
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Abstract
One or more methods, apparatuses, and systems to perform inverse kinematics to move an end effector of a kinematic chain from a starting location toward a target location and to move mid-joints in response thereto according to a subspace of a mid-joint, wherein the subspace is determined according to objects determined around adjacent joints of the mid-joint. The kinematic chain may comprise branches and the methods, apparatuses, and systems may determine an execution order of the branches.
Claims20
An apparatus for inverse kinematics, comprising:
- a computer processor and a memory having stored therein computer-readable instructions;
- and
- wherein the computer-readable instructions when executed by the processor configures the processor to perform a transformation of a kinematic chain and control movement of the kinematic chain based on the transformation of the kinematic chain, wherein the kinematic chain comprises a root, an effector, and at least a first mid-joint, wherein the first mid-joint is between the root and the effector, wherein the transformation includes moving the effector from a starting location to or toward (“to”) a target location, wherein to perform the transformation of the kinematic chain to move the effector from the starting location to the target location, the processor is configured to determine a subspace of the first mid-joint, and is configured to perform the transformation of the kinematic chain according to the subspace of the first mid-joint, wherein the kinematic chain comprises adjacent joints of the first mid-joint, wherein the adjacent joints of the first mid-joint comprise an effector-proximate joint and a root-proximate joint, wherein the effector-proximate joint is either the effector or a mid-joint closer to the effector than the first mid-joint and wherein the root-proximate joint is either the root or a mid-joint closer to the root than the first mid-joint, and wherein the processor upon executing the computer-readable instructions is configured to determine a first object around the effector-proximate joint and a second object around the root-proximate joint, is configured to determine an intersection of the first object and the second object (“intersection”), and is configured to determine the subspace of the first mid-joint according to a perimeter of the intersection, wherein the first object is determined by determining a three-dimensional space that at least partially surrounds the effector-proximate joint that a first link connected to the effector-proximate joint can freely rotate around the effector-proximate joint, and wherein the second object is determined by determining a three-dimensional space that at least partially surrounds the root-proximate joint that a second link connected to the root-proximate joint can freely rotate around the root-proximate joint.
A computer implemented method for inverse kinematics, comprising:
- performing, by a computer processor, a transformation of a kinematic chain;
- controlling movement of the kinematic chain based on the transformation of the kinematic chain, wherein the kinematic chain comprises a root, an effector, and at least a first mid-joint, wherein the first mid-joint is between the root and the effector, wherein performing the transformation of the kinematic chain includes moving the effector from a starting location to or toward (“to”) a target location by determining a subspace of the first mid-joint and performing the transformation of the kinematic chain according to the subspace of the first mid-joint, wherein the kinematic chain comprises adjacent joints of the first mid-joint, wherein the adjacent joints of the first mid-joint comprise an effector-proximate joint and a root-proximate joint, wherein the effector-proximate joint is either the effector or a mid-joint closer to the effector than the first mid-joint and wherein the root-proximate joint is either the root or a mid-joint closer to the root than the first mid-joint, and further comprising determining a first object around the effector-proximate joint and a second object around the root-proximate joint, determining an intersection of the first object and the second object (“intersection”), and determining the subspace of the first mid-joint according to a perimeter of the intersection, wherein a location of the first object around the effector-proximate joint is based on a new position for the effector-proximate joint and a location of the second object around the root-proximate joint is based on a then-current position of the root-proximate joint and wherein performing the transformation of the kinematic chain according to the subspace of the first mid-joint further comprises moving the effector to the target location and determining a new position for the first mid-joint on the perimeter of the intersection, wherein determining the new position for the first mid-joint on the perimeter of the intersection comprises determining the new position on the perimeter of the intersection closest to a then-current position of the first mid-joint, wherein the first object is determined by determining a three-dimensional space that at least partially surrounds the effector-proximate joint that a first link connected to the effector-proximate joint can freely rotate around the effector-proximate joint, and wherein the second object is determined by determining a three-dimensional space that at least partially surrounds the root-proximate joint that a second link connected to the root-proximate joint can freely rotate around the root-proximate joint.
One or more computer-readable media comprising instructions that cause a computer device, in response to execution of the instructions by a processor of the computer device, to:
- perform a transformation of a kinematic chain;
- control movement of the kinematic chain based on the transformation of the kinematic chain, wherein the kinematic chain comprises a root, the effector, and at least a first mid-joint, wherein the first mid-joint is between the root and the effector, wherein to perform the transformation of the kinematic chain includes moving the effector from a starting location to or toward (“to”) a target location by determining a subspace of the first mid-joint and perform the transformation of the kinematic chain according to the subspace of the first mid-joint, wherein the kinematic chain comprises adjacent joints of the first mid-joint, wherein the adjacent joints of the first mid-joint comprise an effector-proximate joint and a root-proximate joint, wherein the effector-proximate joint is either the effector or a mid-joint closer to the effector than the first mid-joint and wherein the root-proximate joint is either the root or a mid-joint closer to the root than the first mid-joint, and wherein the instructions are further to cause to computer device to determine a first object around the effector-proximate joint and a second object around the root-proximate joint, determine an intersection of the first object and the second object (“intersection”), and determine the subspace of the first mid-joint according to a perimeter of the intersection, wherein a location of the first object around the effector-proximate joint is based on a new position for the effector-proximate joint and a location of the second object around the root-proximate joint is based on a then-current position of the root-proximate joint and wherein to perform the transformation of the kinematic chain according to the subspace of the first mid-joint further comprises moving the effector to the target location and determine a new position for the first mid-joint on the perimeter of the intersection, wherein the first object is determined by determining a three-dimensional space that at least partially surrounds the effector-proximate joint that a first link connected to the effector-proximate joint can freely rotate around the effector-proximate joint, and wherein the second object is determined by determining a three-dimensional space that at least partially surrounds the root-proximate joint that a second link connected to the root-proximate joint can freely rotate around the root-proximate joint.
Dependencies are inferred from the claim text.