A robust inverse kinematics algorithm for animating a joint chain

Authors:
R. Mukundan
Affiliations:
Department of Computer Science and Software Engineering, University of Canterbury, Christchurch, New Zealand
Venue:
International Journal of Computer Applications in Technology
Year:
2009

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Abstract

The cyclic coordinate descent (CCD) is a well-known algorithm used for inverse kinematics solutions in applications involving joint chains and moving targets. Even though a CCD algorithm can be easily implemented, it can take a series of iterations before converging to a solution and also generate undesirable joint rotations. This paper presents a novel single-pass algorithm that is fast and eliminates problems associated with improper and large angle rotations. Experimental results are presented to show the performance benefits of the proposed algorithm over CCD and the 'triangulation' methods, using different types of cost functions.