If desired, joint limits can be set independently for each axis of motion, supporting both rotational and translational movement. The motion itself can either be instantaneous, but also allows setting a maximum velocity and maximum acceleration in order to simulate naturally-looking motion. The IK problem can be solved either purely for position or orientation, but also easily for full pose or looking direction without violating any joint limits or getting stuck in local optima. Further objectives can also be set to realise task-specific goals and motion behaviours, such as real-time collision avoidance with particular objects, intermediate goals for the elbow / wrist, or weighted stiffness for single joints.
The developed algorithm tackles the problem using biologically-inspired memetic evolutionary optimisation. It avoids running into mathematical problems of related IK solvers, and scales well even for greatly higher degree of freedom.
=== Details ===
– Demo scenes included with Space Robot Kyle
– Platform independent (Windows, Mac OS X, Linux, …)
– Must-have for robotics research in Unity3D
=== ReadMe ===
For the love of all good, please take at least a short look in the provided ReadMe file! 🙂
If you are happy with this asset, please let me know! I will consistently improve it. If you use it for scientific research or related purposes, I’d be glad if you reference the related publications on my website.