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1.2 KiB
1.2 KiB
How the inverse kinematics is calculated
The concept uses the following assumptions:
- The degrees-of-freedom are limited to
- Shoulder joint with 3dof and restrictive joint limits
- The elbow with only 1dof
- The wrist with 3dof and restrictive joint limits
- for humans, within the reachable elbow positions, some areas are more likely to be used due to less muscle strain
Proposal 1 for am pose estimate
Input:
- controller position
- shoulder position estimate
Output:
- Elbow position
- Shoulder backslash (required to improve shoulder position estimate)
Step 1: Initial elbow position estimate
We try to get a first good estimate using a very simple method: given
- a vector SpineShoulder, going from the spine at approx. breast-hight to the shoulder position, and
- a vector ShoulderWrist, going from the shoulder to the wrist position, which can be easily inferred from the controller position,
- calculate the cross-product like this for the right shoulder:
var elbow_dir = SpineShoulder.cross(ShoulderWrist).