Interpolation using radial basis functions with application...

Details Interpolation using radial basis functions with application... Interpolation using radial basis functions with application...

2006-04-04

2006-04-04

Black, Thomas (Department: 3661)

Data processing: generic control systems or specific application

Specific application, apparatus or process

Robot control

C700S252000, C700S250000, C345S474000, C345S475000, C703S002000, C382S100000

Reexamination Certificate

active

07024279

ABSTRACT:
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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