CN111079071A - Inverse dynamics calculation method and device applied to human-like skeleton - Google Patents
Inverse dynamics calculation method and device applied to human-like skeleton Download PDFInfo
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Abstract
The invention discloses a reverse dynamics resolving method and a device applied to a humanoid skeleton, wherein the method comprises the following steps: setting an initial posture of the humanoid skeleton; setting a target posture of at least one joint in the humanoid skeleton and resolving parameters of the corresponding joint; and carrying out inverse dynamics calculation processing according to the initial attitude, the target attitude and the calculation parameters to obtain the final attitude of the humanoid skeleton. This enables the complex tree-like humanoid skeleton to reach its target state, and allows individual or whole-body inverse kinetic resolution of arbitrary joints.
Description
Case information
The application is a divisional application of Chinese patent application with the application date of 2016, 8, 16 and the application number of 201610674497.4, and the invention name of the method and the device for inverse kinetic solution applied to a humanoid skeleton.
Technical Field
The invention relates to the field of inverse dynamics, in particular to an inverse dynamics calculation method and device applied to a human-like skeleton.
Background
Inverse kinematics is a method for determining the whole skeleton chain by determining the position of a child skeleton and then deducing the position of an n-level parent skeleton on the skeleton chain by inverse calculation. The inverse dynamics is to solve the shape of the whole skeleton reversely according to the final position and angle of some sub-joints. The method has the characteristics of high working efficiency, greatly reduces the number of joints needing manual control, and has the defect that more computer resources need to be consumed for solving an equation set, and is particularly obvious when the number of joints is increased.
However, the existing inverse dynamics solution methods can solve the problem of calculating the orientation of the joint after the tail end posture is specified, but the methods can only be applied to a simple chain type framework and cannot process a tree structure with a complicated human-like framework.
Disclosure of Invention
The invention aims to provide a novel technical scheme for inverse kinetic resolution capable of processing a complex tree structure of a humanoid skeleton.
According to a first aspect of the invention, an inverse dynamics solution method applied to a humanoid skeleton is provided, which comprises the following steps:
setting an initial posture of the human-like skeleton;
setting a target posture of at least one joint in the humanoid skeleton and resolving parameters corresponding to the joint;
and carrying out inverse dynamics calculation processing according to the initial attitude, the target attitude and the calculation parameters to obtain the final attitude of the humanoid skeleton.
Optionally, before setting the initial pose of the human-like skeleton, the method further includes:
marking key joints in the human-like skeleton and the orientation of the human-like skeleton;
and setting the human-like skeleton into a T-shaped or A-shaped posture.
Optionally, the target pose includes a target position and/or a target orientation.
Optionally, if the joint cannot reach the target position, the other parts of the humanoid skeleton are moved by a pulling mechanism to enable the joint to reach the target posture.
Optionally, the method further includes performing constraint processing on the rotation angle of the joint.
According to a second aspect of the present invention, there is provided an inverse kinematics resolver for a humanoid skeleton, comprising:
the initial setting module is used for setting the initial posture of the human-like skeleton;
the target setting module is used for setting a target posture of at least one joint in the humanoid skeleton and resolving parameters corresponding to the joint;
and the resolving module is used for performing inverse dynamics resolving processing according to the initial attitude, the target attitude and the resolving parameter to obtain the final attitude of the humanoid skeleton.
Optionally, the apparatus further comprises:
the marking module is used for marking key joints in the human-like skeleton and the orientation of the human-like skeleton;
and the posture setting module is used for setting the human-like skeleton into a T-shaped or A-shaped posture.
Optionally, the target pose includes a target position and/or a target orientation.
Optionally, the device further includes a pulling module, configured to, if the joint cannot reach the target position, move other parts of the human-like skeleton by using a pulling mechanism so that the joint reaches the target posture.
Optionally, the device further comprises a constraint module, configured to perform constraint processing on the rotation angle of the joint.
The inventor of the invention finds that in the prior art, the problem that the complex tree-shaped structure of the humanoid skeleton cannot be processed exists, in the embodiment of the invention, the complex tree-shaped humanoid skeleton can reach the target state of the humanoid skeleton by performing inverse dynamics calculation processing on the initial posture, the target posture and the corresponding calculation parameters of the corresponding joints of the humanoid skeleton, and the inverse dynamics calculation can be performed on any joint independently or on the whole body. Therefore, the technical task to be achieved or the technical problems to be solved by the present invention are never thought or anticipated by those skilled in the art, and therefore the present invention is a new technical solution.
Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a flow chart of an embodiment of an inverse kinematics solution method according to the present invention applied to a humanoid skeleton;
FIG. 2 is a schematic diagram of a tangent vector field on a unit sphere;
FIG. 3 is a block diagram of an implementation structure of an inverse dynamics solver applied to a humanoid skeleton according to the invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In order to solve the problem that the inverse dynamics solution method in the prior art cannot process the complex tree structure of the humanoid skeleton, a method and a device for inverse dynamics solution applied to the humanoid skeleton are provided, and fig. 1 is a flow chart of an implementation mode of the inverse dynamics solution method applied to the humanoid skeleton according to the invention.
As shown in fig. 1, the method of the present invention comprises the steps of:
and step S101, setting the initial posture of the humanoid skeleton.
Step S102, setting a target posture of at least one joint in the humanoid skeleton and a corresponding resolving parameter, wherein the target posture comprises a target position and/or a target orientation.
And S103, carrying out inverse dynamics calculation processing according to the initial posture, the target posture and the calculation parameters to obtain the final posture of the humanoid skeleton.
Specifically, for limbs of the human-like skeleton, in one embodiment of the present invention, the solution may be performed by using a conventional triangle solving method. In order to ensure the stability of the solution, a tangent vector field F (p) on a unit sphere is constructed:
wherein the vector p is any unit vector in a three-dimensional space; the rotanfromto function accepts two parameters, both unit vectors in three-dimensional space, and returns a quaternion representing the most recent rotation of the first to the second parameter; the visualization of this vector field is shown in fig. 1. And taking a plane where three joints of four limbs are positioned as a resolving plane, taking a normal of the resolving plane as a function of the direction of the tail end joint, and taking the resolving plane determined according to the vector field as a zero plane. For any three-joint structure, the attitude angle of the structure is defined as the included angle from the normal direction of the zero plane to the normal direction of the resolving plane of the structure. Before inverse dynamics calculation is carried out, the attitude angle of the initial state of the structure can be calculated in advance, and after a calculation result is obtained, the attitude angle of the calculation result is adjusted to be the same as the original attitude angle, so that a stable attitude change process can be obtained.
For a human-like skeleton spine, the target position and target orientation of the end joints need to be considered simultaneously. Due to the large number of spinal joints, it is always assumed that all joints rotate about the same axis in order to obtain a unique solution. In order for the end joint to reach the target orientation, it is only necessary to calculate the rotation of the orientation of the current end joint to the target orientation and assign this angle of rotation to each joint in the spine with a weight. In order to enable the tail end joint to reach the target position, the direction of the target position is taken as a target, a rotation angle is distributed to the joint according to another different weight, the angle value is optimized through a backtracking method, and finally the tail end joint is located in the target direction. When actual solution is performed, the above two steps are iteratively performed until the result converges.
Therefore, the inverse dynamics solution method can be applied to the complex tree-shaped human-like skeleton, and can carry out independent inverse dynamics solution on any joint in the limbs and the spine of the human-like skeleton. Moreover, when the target posture of the joint and the calculation parameters are continuously changed, the obtained calculation result is stable and does not generate sudden change.
In order to obtain a more realistic human pose, in another embodiment of the present invention, the method of the present invention may further define the angular constraints of the joints. Unlike the traditional Euler angle representation, the present invention adopts a new method of representing rotation by angle, and the values of three components are in the range of-180 degrees and 180 degrees. Given a unit quaternion q and a unit vector v, let q θ be the unit quaternion representing the rotation around v by θ, θ ∈ [ -pi, pi ], let Angle (q) · 2 × arccos (| q.w |), i.e. take the function of the rotation Angle, let f (θ) · min { Angle (qq θ -1), Angle (q θ -1q) }, it can be shown that f is a constant function or takes a unique minimum value at [ -pi, pi), and θ, which takes the minimum value of f, can be used to represent the rotation component of the rotation q on the axis v (0 when f is a constant function). The rotation components of q in the x-axis, y-axis and z-axis are calculated respectively, and the angle representation of the rotation is obtained. The user can set a maximum value and a minimum value for the three components of the joint, respectively. After the inverse dynamics calculation is completed, the variation of the orientation of each joint relative to the initial orientation is calculated, the variation is decomposed into components, the components are cut according to the corresponding maximum value and minimum value, and the three cut components are combined into rotation and applied to the orientation of the joint. In this way, the quality of the calculation result can be further improved.
Furthermore, when a certain body part cannot reach the target position, other body parts can be moved by a pulling mechanism, so that any joint can possibly influence all joints of the human-like skeleton, and the reverse dynamic effect of the whole body is obtained. Depending on the anatomy, the arms and head will pull on the spinal end joints, while the spine and legs will pull on the pelvis. Taking calculation of the arrival problem of the left wrist as an example, after all body parts are solved, checking a translation vector from the actual position of the wrist joint to the target position, if the target position cannot be reached, translating the actual position of the vertebra end joint along the vector, setting the actual position as a new vertebra target position, and carrying out re-calculation. If the spine still fails to reach the target location, the pelvis is pulled further in the same manner. When a plurality of joints are pulled simultaneously, weighted average is carried out on each translation vector according to the values of pulling parameters of the joints, and the result is applied to the pulled joints, so that the target posture and the calculation parameters of any joint can influence all joints of the human-like skeleton, and the reverse dynamics calculation of the whole body of the human-like skeleton can be carried out.
On this basis, before setting the initial posture of the humanoid skeleton in step S101, the whole solution system needs to be initialized, which includes the following steps:
marking key joints in the human-like skeleton and the orientation of the human-like skeleton; and the number of the first and second groups,
and setting the human-like skeleton into a T-shaped or A-shaped posture.
Wherein, marking each key joint means marking some joints in the human-like skeleton as any one of pelvis, spine initial joint, spine end joint (namely neck initial joint), spine end joint, left and right eyeballs, left and right shoulder joints, left and right elbow joints, left and right wrist joints, left and right hip joints, left and right knee joints and left and right ankle joints, if some joints in the target human-like skeleton do not correspond to any one of the key joints, the marking can be omitted, namely, each joint in the human-like skeleton is not required to be marked.
Specifically, the orientation of the human-like skeleton may include, for example, the front and the top.
The invention also provides an inverse dynamics solver applied to a humanoid skeleton, fig. 3 is a block schematic diagram of an implementation structure of the inverse dynamics solver applied to the humanoid skeleton, as shown in fig. 3, the device 300 of the invention comprises an initial setting module 301, a target setting module 302 and a calculating module 303, wherein the initial setting module 301 is used for setting the initial posture of the humanoid skeleton; the target setting module 302 is used for setting a target posture of at least one joint in the humanoid skeleton and resolving parameters of the corresponding joint; the calculating module 303 is configured to perform inverse dynamics calculation processing according to the initial posture, the target posture and the calculation parameters to obtain a final posture of the humanoid skeleton.
In one embodiment of the present invention, the apparatus 300 further comprises a marking module and a posture setting module, wherein the marking module is used for marking key joints in the human-like skeleton and the orientation of the human-like skeleton; the posture setting module is used for setting the human-like skeleton into a T-shaped or A-shaped posture.
Wherein the target pose comprises a target position and/or a target orientation.
Further, the device 300 further comprises a pulling module, which is used for moving other parts of the human-like skeleton through a pulling mechanism to enable the joint to reach the target posture if the joint cannot reach the target position.
On the basis, the device 300 further comprises a constraint module for performing constraint processing on the rotation angle of the joint.
The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.
The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.
The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.
The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.
Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein were chosen in order to best explain the principles of the embodiments, the practical application, or technical improvements to the techniques in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.
Claims (18)
1. An inverse dynamics solution method applied to a human-like skeleton is characterized by comprising the following steps:
setting an initial posture of the human-like skeleton;
setting a target posture of at least one joint in the humanoid skeleton and resolving parameters corresponding to the joint;
and carrying out inverse dynamics calculation processing according to the initial attitude, the target attitude and the calculation parameters to obtain the final attitude of the humanoid skeleton.
2. The inverse kinematics solution according to claim 1 wherein the humanoid skeleton comprises joints embodying limbs and a spine, and the inverse kinematics solution process is capable of performing an inverse kinematics solution for the joints embodying the limbs and the spine.
3. The inverse kinematics calculation method according to claim 2 wherein, in performing the calculation process on the spine, a rotation angle of a current orientation to a target orientation of a distal joint of the spine is calculated, the rotation angle being assigned by weight to each of the joints in the spine.
4. The inverse kinematics solution according to claim 1, wherein said setting an initial pose of said humanoid skeleton further comprises:
marking key joints in the human-like skeleton and the orientation of the human-like skeleton;
and setting the human-like skeleton into a T-shaped or A-shaped posture.
5. The inverse kinematics solution according to claim 1, wherein the target pose comprises a target position and/or a target orientation.
6. The inverse kinematics solution according to claim 1, wherein if the joint fails to reach a target position, the other parts of the humanoid skeleton are maneuvered by a pulling mechanism to bring the joint to the target pose.
7. The inverse kinematics solution according to claim 6, wherein the joint is a wrist joint, the method comprising:
checking a translation vector from the actual position of the wrist joint to the target position, translating the actual position of the spine end joint along the vector if the target position cannot be reached, setting the actual position as a new target position of the spine end joint, and recalculating.
8. The inverse kinematics solution according to claim 1, wherein the humanoid skeleton comprises a plurality of skeleton chains, and if the joint cannot reach the target position, another skeleton chain of the humanoid skeleton associated with the skeleton chain of the joint is moved by a pulling mechanism to bring the joint to the target posture.
9. The inverse kinematics solution according to claim 1, further comprising a constraint processing of the rotation angle of the joint.
10. An inverse kinematics resolving device applied to a humanoid skeleton, comprising:
the initial setting module is used for setting the initial posture of the human-like skeleton, wherein the human-like skeleton comprises joints reflecting four limbs and spines;
the target setting module is used for setting a target posture of at least one joint in the humanoid skeleton and resolving parameters corresponding to the joint;
and the calculation module is used for performing inverse dynamics calculation according to the initial posture, the target posture and the calculation parameters to obtain a final posture of the humanoid skeleton, wherein the inverse dynamics calculation can perform inverse dynamics calculation for joints embodying the limbs and the spines.
11. The inverse kinematics resolver according to claim 10, wherein the humanoid skeleton comprises joints embodying limbs and a spine, and the inverse kinematics solution process is capable of performing an inverse kinematics solution for the joints embodying the limbs and the spine.
12. The inverse dynamics solver of claim 11, wherein, in performing the solution process for the spine, the solution module calculates a rotation angle of a current orientation of a distal joint of the spine to a target orientation, the rotation angle being assigned by weight to each joint in the spine.
13. An inverse dynamics solver according to claim 10, further comprising:
the marking module is used for marking key joints in the human-like skeleton and the orientation of the human-like skeleton;
and the posture setting module is used for setting the human-like skeleton into a T-shaped or A-shaped posture.
14. The inverse dynamics solver of claim 10, wherein the target attitude comprises a target position and/or a target orientation.
15. The inverse kinematics resolver of claim 10, further comprising a pulling module for maneuvering other portions of the humanoid skeleton via a pulling mechanism to bring the joint to the target pose if the joint fails to reach the target position.
16. The inverse kinematics solution according to claim 15 wherein the joint is a wrist joint and if the actual position of the wrist joint fails to reach the target position, the pull module translates the actual position of the spine end joint along a translation vector from the actual position of the wrist joint to the target position, sets the actual position to a new target position of the spine end joint, and performs the solution again.
17. The inverse kinematics calculation method according to claim 10 wherein the humanoid skeleton comprises a plurality of skeleton chains and the pull module maneuvers another skeleton chain of the humanoid skeleton associated with the skeleton chain in which the joint is located if the joint fails to reach the target position, so as to bring the joint to the target pose.
18. An inverse dynamics solver according to claim 10, further comprising a constraint module for constraining the angle of rotation of the joint.
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| CN109550250B (en) * | 2018-11-16 | 2022-04-29 | 网易（杭州）网络有限公司 | Virtual object skeleton data processing method and device, storage medium and electronic equipment |
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