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

Morten Engell-Nørregård, Kenny Erleben

Publikation: Bidrag til bog/antologi/rapportKonferencebidrag i proceedingsForskningpeer review

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.
OriginalsprogEngelsk
TitelProceedings MATHMOD 09 Vienna, ARGESIM Report no. 35
RedaktørerInge Troch, Felix Breitenecker
Publikationsdato2009
ISBN (Elektronisk)978-3-901608-35-3
StatusUdgivet - 2009
BegivenhedMATHMOD 2009 - 6th Vienna International Conference on Mathematical Modelling - Wien, Østrig
Varighed: 11 feb. 200913 feb. 2009
Konferencens nummer: 6

Konference

KonferenceMATHMOD 2009 - 6th Vienna International Conference on Mathematical Modelling
Nummer6
Land/OmrådeØstrig
ByWien
Periode11/02/200913/02/2009

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