Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs
Graphical ModelsPublished 1 September 2000
Deepak Tolani, Ambarish Goswami, Norman I. Badler
Citations581
SJR quartileQ2
SJR score0.48
SNIP0.98
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TL;DR
A combination of analytical and numerical methods to solve generalized inverse kinematics problems including position, orientation, and aiming constraints suitable for an anthropomorphic arm or leg.
Abstract
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.
Keywords
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