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首页> 外文会议>2001 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference Vol.2: 27th Design Automation Conference, 2001, 2001 >POSTURE PREDICTION VERSUS INVERSE KINEMATICS
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POSTURE PREDICTION VERSUS INVERSE KINEMATICS

机译：姿势预测与逆运动学

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摘要

Inverse kinematics is concerned with the determination of joint variables of a manipulator given its final position or final position and orientation. Posture prediction also refers to the same problem but is typically associated with models of the human limbs, in particular for postures assumed by the torso and upper extremities. There has been numerous works pertaining to the determination and enumeration of inverse kinematic solutions for serial robot manipulators. Part of these works have also been directly extended to the determination of postures for humans, but have rarely addressed the choice of solutions undertaken by humans, but have focused on purely kinematic solutions. In this paper, we present a theoretical framework that is based on cost functions as human performance measures, subsequently predicting postures based on optimizing one or more of such cost functions. This paper seeks to answer two questions: (1) Is a given point reachable (2) If the point is reachable, we shall predict a realistic posture. We believe that the human brain assumes different postures driven by the task to be executed and not only on geometry. Furthermore, because of our optimization approach to the inverse kinematics problem, models with large number of degrees of freedom are addressed. The method is illustrated using several examples.
机译：逆运动学与确定给定机械手的最终位置或最终位置和方向的关节变量有关。姿势预测也涉及相同的问题，但通常与人体四肢模型有关，特别是对于躯干和上肢采取的姿势。关于串行机器人操纵器的逆运动学解决方案的确定和枚举，已经有许多工作。这些工作的一部分也已经直接扩展到确定人类的姿势，但是很少涉及人类采取的解决方案的选择，而是专注于纯粹的运动学解决方案。在本文中，我们提出了一个基于成本函数的理论框架，该成本函数作为人类绩效指标，随后基于优化一个或多个此类成本函数来预测姿势。本文试图回答两个问题：（1）给定的点是否可以到达（2）如果该点可以到达，我们将预测一个现实的姿势。我们认为，人脑在执行任务时会采取不同的姿势，而不仅仅是在几何图形上。此外，由于我们针对逆运动学问题的优化方法，解决了具有大量自由度的模型。使用几个示例说明了该方法。

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