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Stable and efficient differential inverse kinematics

Authors:

J. P. Lewis,

Nebojsa DragosavacAuthors Info & Claims

SA '10: ACM SIGGRAPH ASIA 2010 Sketches

Article No.: 29, Pages 1 - 2

https://doi.org/10.1145/1899950.1899979

Published: 15 December 2010 Publication History

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Abstract

Inverse kinematics (IK) is an essential algorithm in the computer animation of articulated figures. We propose a differential IK algorithm combining ideas from the pseudoinverse and Jacobian transpose techniques that achieves the efficiency of the former technique while avoiding its inherent instability.

References

[1]

Grassia, F. S., 2000. Believable automatically synthesized motion by knowledge-enhanced motion transformation. PhD thesis, Carnegie Mellon University.

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[2]

Maciejewski, A. A. 1990. Motion simulation: Dealing with the ill-conditioned equations of motion for articulated figures. IEEE Comput. Graph. Appl. 10, 3, 63--71.

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[3]

Siciliano, B., Sciavicco, L., and and G. Oriolo, L. V. 2009. Robotics: Modelling, Planning, and Control. Springer.

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[4]

Wampler, II, C. W. 1986. Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods. IEEE Trans. Syst. Man Cybern. 16, 1, 93--101.

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[5]

Welman, C., 1993. Inverse kinematics and geometric constraints for articulated figure manipulation. Masters thesis, Simon Fraser University.

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[6]

Zhao, J., and Badler, N. I. 1994. Inverse kinematics positioning using nonlinear programming for highly articulated figures. ACM Trans. Graph. 13, 4, 313--336.

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Index Terms

Stable and efficient differential inverse kinematics
1. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Motion path planning
  2. Computer graphics
    1. Shape modeling
2. Theory of computation
  1. Randomness, geometry and discrete structures
    1. Computational geometry

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Published In

SA '10: ACM SIGGRAPH ASIA 2010 Sketches

December 2010

98 pages

ISBN:9781450305235

DOI:10.1145/1899950

Conference Chairs:
Marie-Paule Cani
Grenoble Universités & INRIA
,
Alla Sheffer
The University of British Columbia

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Association for Computing Machinery

New York, NY, United States

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Published: 15 December 2010

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SA '10: SIGGRAPH ASIA 2010

December 15 - 18, 2010

Seoul, Republic of Korea

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Overall Acceptance Rate 178 of 869 submissions, 20%

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Abstract

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Index Terms

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Sketch-based per-frame inverse kinematics

The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm

Inverse kinematics and rigid-body dynamics for a three rotational degrees of freedom parallel manipulator

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