Inverse Kinematics with Obstacle Avoidance test
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Published on ● Video Link: https://www.youtube.com/watch?v=YGta8jgAdV8
5Inspired by: https://github.com/TAMS-Group/bio_ik
A WIP Inverse Kinematics solver using Evolutionary Algorithm for obstacle avoidance and rough pose estimation, then using Jacobian method for fine-tuning.
It's not perfect, as you can see sometimes the arm will intersect the wall. I am working out the kinks in javascript and then porting to Rust + threading+ wgpu for speed, then plan to use in browser with WASM.
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