Stable and efficient differential inverse kinematics

Authors:
J. P. Lewis;Nebojsa Dragosavac
Affiliations:
Weta Digital;Weta Digital
Venue:
ACM SIGGRAPH ASIA 2010 Sketches
Year:
2010

Citing 5
Cited 0

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Abstract

Inverse kinematics (IK) is an essential algorithm in the computer animation of articulated figures. We propose a differential IK algorithm combining ideas from the pseudoinverse and Jacobian transpose techniques that achieves the efficiency of the former technique while avoiding its inherent instability.