Inverse Kinematics and Whole-Body Control
让机器人在每个控制周期里都算得出、算得准 Solutions Available and Accurate in Every Control Cycle
任务场景The Task
逆运动学是机器人执行任何动作的第一步：把视觉、遥操作或上层规划给出的末端目标，实时转换成一组可执行、且不违反物理限制的关节角度。
- 实时：视觉伺服、遥操作要求在毫秒级控制周期内持续给出解。
- 可扩展：不管是多任务（例如人形机器人需要同时满足踩稳、重心稳定、双手到位等多个任务）还是多构型（不同类型的机器人），都能适应。
- 可靠：目标不可达或接近奇异时，仍需给出安全可用的结果。
- 高精度：直接处理非线性问题，实现微米级精度
Inverse kinematics is the first step of every robot motion: converting end-effector targets from vision, teleoperation, or high-level planning into joint angles that are executable and physically feasible.
- Real-time: visual servoing and teleoperation require solutions to be delivered continuously within millisecond-level control cycles.
- Scalable: it adapts to multiple tasks (for example, a humanoid robot must keep its feet planted, stay balanced, and place both hands at the same time) as well as to multiple configurations (different types of robots).
- Reliable: even when the target is unreachable or close to a singularity, a safe and usable result must still be produced.
- High accuracy: the nonlinear problem is solved directly, achieving micrometer-level accuracy.
