Improved Damped Least Squares Solution with Joint Limits, Joint Weights and Comfortable Criteria for Controlling Human-like Figures
- Resource Type
- Conference
- Authors
- Na, Meng; Yang, Bin; Jia, Peifa
- Source
- 2008 IEEE Conference on Robotics, Automation and Mechatronics Robotics, Automation and Mechatronics, 2008 IEEE Conference on. :1090-1095 Sep, 2008
- Subject
- Robotics and Control Systems
Computing and Processing
Signal Processing and Analysis
Least squares methods
Joints
Robot kinematics
Manipulators
Humans
Jacobian matrices
Motion control
Damping
Automatic control
Robot control
damped least squares method
joint limits avoidance
joint weights
comfortable criteria
inverse kinematics
- Language
- ISSN
- 2158-2181
2158-219X
In order to generate natural posture and motion of virtual human-like figures, damped least squares inverse kinematics method is modified. Physical rules of human being like joint limits, joint weights and comfortable criteria are introduced to the design of damping factors for the improved damped least squares solution. The proposed method performs well on guaranteeing joint limit avoidance and producing natural-looking postures. This new scheme is successfully implemented and tested for real-time control of a seven-degree-of-freedom virtual human skeletal upper limb. Experiment results show that the improved solution is more robust and stable than the original damped least squares method.