Interpolation using radial basis functions with application to inverse kinematics

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.