Triangualation - A New Algorithm for Inverse Kinematics (2007)

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Type of Content
Conference Contributions - PublishedPublisher
University of Canterbury. Computer Science and Software Engineering.Related resource(s)
http://digital.liby.waikato.ac.nz/conferences/ivcnz07/papers/ivcnz07-paper34.pdfCollections
Abstract
Inverse Kinematics is used in computer graphics and robotics to control the posture of an articulated body. We introduce a new method utilising the law of cosines, which quickly determines the joint angles of a kinematic chain when given a target. Our method incurs a lower computational and rotational cost than Cyclic-Coordinate Descent (CCD), yet is also guaranteed to find a solution if one is available. Additionally it moves the upper joints of any kinematic chain first, thus ensuring a closer simulation of natural movement than CCD, which tends to overemphasise the movement of joints closer to the end-effector of the kinematic chain.
Citation
Muller-Cajar, R., Mukundan, R. (2007) Triangualation - A New Algorithm for Inverse Kinematics. Hamilton, New Zealand: Image and Vision Computing New Zealand (IVCNZ) 2007 Conference, 5-7 Dec 2007. Proceedings of Image and Vision Computing New Zealand 2007, 181-186.This citation is automatically generated and may be unreliable. Use as a guide only.
Keywords
Inverse Kinematics; Cyclic-Coordinate Descent; TriangulationRelated items
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