Inverse kinematics problems with exact Hessian matrices

TY - GEN

T1 - Inverse kinematics problems with exact Hessian matrices

AU - Erleben, Kenny

AU - Andrews, Sheldon

N1 - Conference code: 10

PY - 2017/11/8

Y1 - 2017/11/8

N2 - Inverse kinematics (IK) is a central component of systems for motion capture, character animation, motion planning, and robotics control. The field of computer graphics has developed fast stationary point solvers methods, such as the Jacobian transpose method and cyclic coordinate descent. Much work with Newton methods focus on avoiding directly computing the Hessian, and instead approximations are sought, such as in the BFGS class of solvers. This paper presents a numerical method for computing the exact Hessian of an IK system with spherical joints. It is applicable to human skeletons in computer animation applications and some, but not all, robots. Our results show that using exact Hessians can give performance advantages and higher accuracy compared to standard numerical methods used for solving IK problems. Furthermore, we provide code and supplementary details that allows researchers to plug-in exact Hessians in their own work with little effort.

AB - Inverse kinematics (IK) is a central component of systems for motion capture, character animation, motion planning, and robotics control. The field of computer graphics has developed fast stationary point solvers methods, such as the Jacobian transpose method and cyclic coordinate descent. Much work with Newton methods focus on avoiding directly computing the Hessian, and instead approximations are sought, such as in the BFGS class of solvers. This paper presents a numerical method for computing the exact Hessian of an IK system with spherical joints. It is applicable to human skeletons in computer animation applications and some, but not all, robots. Our results show that using exact Hessians can give performance advantages and higher accuracy compared to standard numerical methods used for solving IK problems. Furthermore, we provide code and supplementary details that allows researchers to plug-in exact Hessians in their own work with little effort.

U2 - 10.1145/3136457.3136464

DO - 10.1145/3136457.3136464

M3 - Article in proceedings

BT - Proceedings of the Tenth International Conference on Motion in Games

PB - Association for Computing Machinery

T2 - 10th International Conference on Motion in Games

Y2 - 8 November 2017 through 10 November 2017

ER -