Abstract
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 Conjugate
Gradient optimization method suitable for box-constrained optimization problems for inverse kinematics.
We show application on inverse kinematics positioning of a human figure. Performance is measured
and compared to a traditional Jacobian Transpose method. Visual quality of the developed method is
evaluated.
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 Conjugate
Gradient optimization method suitable for box-constrained optimization problems for inverse kinematics.
We show application on inverse kinematics positioning of a human figure. Performance is measured
and compared to a traditional Jacobian Transpose method. Visual quality of the developed method is
evaluated.
| Original language | English |
|---|---|
| Title of host publication | Proceedings MATHMOD 09 Vienna, ARGESIM Report no. 35 |
| Editors | Inge Troch, Felix Breitenecker |
| Publication date | 2009 |
| ISBN (Electronic) | 978-3-901608-35-3 |
| Publication status | Published - 2009 |
| Event | MATHMOD 2009 - 6th Vienna International Conference on Mathematical Modelling - Wien, Austria Duration: 11 Feb 2009 → 13 Feb 2009 Conference number: 6 |
Conference
| Conference | MATHMOD 2009 - 6th Vienna International Conference on Mathematical Modelling |
|---|---|
| Number | 6 |
| Country/Territory | Austria |
| City | Wien |
| Period | 11/02/2009 → 13/02/2009 |