A Projected Non-linear Conjugate Gradient Method for Interactive Inverse Kinematics.

TY - GEN

T1 - A Projected Non-linear Conjugate Gradient Method for Interactive Inverse Kinematics.

AU - Engell-Nørregård, Morten

AU - Erleben, Kenny

N1 - Conference code: 6

PY - 2009

Y1 - 2009

N2 - Inverse kinematics is the problem of posing an articulated figure to obtain a wanted goal,without regarding inertia and forces. Joint limits are modeled as bounds on individual degrees of freedom,leading to a box-constrained optimization problem. We present A projected Non-linear ConjugateGradient optimization method suitable for box-constrained optimization problems for inverse kinematics.We show application on inverse kinematics positioning of a human figure. Performance is measuredand compared to a traditional Jacobian Transpose method. Visual quality of the developed method isevaluated.

AB - Inverse kinematics is the problem of posing an articulated figure to obtain a wanted goal,without regarding inertia and forces. Joint limits are modeled as bounds on individual degrees of freedom,leading to a box-constrained optimization problem. We present A projected Non-linear ConjugateGradient optimization method suitable for box-constrained optimization problems for inverse kinematics.We show application on inverse kinematics positioning of a human figure. Performance is measuredand compared to a traditional Jacobian Transpose method. Visual quality of the developed method isevaluated.

M3 - Article in proceedings

BT - Proceedings MATHMOD 09 Vienna, ARGESIM Report no. 35

A2 - Troch, Inge

A2 - Breitenecker, Felix

T2 - MATHMOD 2009 - 6th Vienna International Conference on Mathematical Modelling

Y2 - 11 February 2009 through 13 February 2009

ER -