Publication detail

Application of Inverse Kinematics for Skeleton Manipulation in Real-time

FĚDOR, M.

Original Title

Application of Inverse Kinematics for Skeleton Manipulation in Real-time

Type

conference paper

Language

English

Original Abstract

Usual way of character?s animation is the use of motion captured data. Acquired bones? orientations are blended together according to user input in real-time. Although this massively used method gives a nice results, practical experience show how important is to have a system for interactive direct manipulation of character?s skeleton in order to satisfy various tasks in Cartesian space. For this purpose, various methods for solving inverse kinematics problem are used. This paper presents three of such methods: Algebraical method based on limbs positioning; iterative optimization method based on Jacobian pseudo-inversion; and heuristic CCD iterative method. The paper describes them all in detail and discusses practical scope of their use in real-time applications.

Keywords

skeleton, bone, joint, inverse kinematics, kinematic tree, Jacobian matrix, Newton-Raphson method, CCD method

Authors

FĚDOR, M.

RIV year

2003

Released

26. 4. 2003

Publisher

Slovak University of Technology in Bratislava

Location

Bratislava

ISBN

80-223-1837-X

Book

Proceeding of Spring Conference on Computer Graphics 2003

Pages from

201

Pages to

210

Pages count

9

URL

http://www.fit.vutbr.cz/~fedor/moca/Fedor.Martin.L.ps.gz

BibTex

@inproceedings{BUT13966,
  author="Martin {Fědor}",
  title="Application of Inverse Kinematics for Skeleton Manipulation in Real-time",
  booktitle="Proceeding of Spring Conference on Computer Graphics 2003",
  year="2003",
  pages="201--210",
  publisher="Slovak University of Technology in Bratislava",
  address="Bratislava",
  isbn="80-223-1837-X",
  url="http://www.fit.vutbr.cz/~fedor/moca/Fedor.Martin.L.ps.gz"
}