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Interpolation using radial basis functions with application to inverse kinematics
Interpolation using radial basis functions with application to inverse kinematics
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机译：使用径向基函数的插值及其在逆运动学中的应用
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摘要
A technique for solving an inverse-kinematic problem by interpolating solutions from examples. Example poses or motions of an object are collected and annotated. The annotations are essentially parameters for a function—i.e., the function X(p) generates degree-of-freedom values of an object that is posed in a manner that satisfies parameters p. The analytic function X is interpolated from these examples and improved automatically based on kinematic measurements. Preferably, the interpolation is created by taking a weighted sum of cardinal basis functions having linear and radial parts, Preferably, the interpolation is a weighted sum of cardinal basis functions having linear and radial portions.
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