𝔖 Bobbio Scriptorium
✦   LIBER   ✦

Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs

✍ Scribed by Deepak Tolani; Ambarish Goswami; Norman I. Badler

Book ID
102967024
Publisher
Elsevier Science
Year
2000
Tongue
English
Weight
538 KB
Volume
62
Category
Article
ISSN
1524-0703

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✦ Synopsis

In this paper we develop a set of inverse kinematics algorithms suitable for an anthropomorphic arm or leg. We use a combination of analytical and numerical methods to solve generalized inverse kinematics problems including position, orientation, and aiming constraints. Our combination of analytical and numerical methods results in faster and more reliable algorithms than conventional inverse Jacobian and optimization-based techniques. Additionally, unlike conventional numerical algorithms, our methods allow the user to interactively explore all possible solutions using an intuitive set of parameters that define the redundancy of the system.

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Approximating character biomechanics wit
Approximating character biomechanics with real-time weighted inverse kinematics
✍ Michael Meredith; Steve Maddock πŸ“‚ Article πŸ“… 2007 πŸ› John Wiley and Sons 🌐 English βš– 902 KB

## Abstract In this paper we show how the expensive, offline dynamic simulations of character motions can be approximated using the cheaper weighted inverse kinematics (WIK)‐based approach. We first show how a dynamics‐based approach can be used to produce a motion that is representative of a real