Inverse kinematics positioning using nonlinear programming for highly articulated figures
ACM Transactions on Graphics (TOG)
Computational modeling for the computer animation of legged figures
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
Mechanics of robotic manipulation
Mechanics of robotic manipulation
Introduction to Robotics: Mechanics and Control
Introduction to Robotics: Mechanics and Control
Fast and easy reach-cone joint limits
Journal of Graphics Tools
Motion Simulation: Dealing with the Ill-Conditioned Equations of Motion for Articulated Figures
IEEE Computer Graphics and Applications
A general joint component framework for realistic articulation in human characters
I3D '03 Proceedings of the 2003 symposium on Interactive 3D graphics
Iterative Methods for Sparse Linear Systems
Iterative Methods for Sparse Linear Systems
Efficient synthesis of physically valid human motion
ACM SIGGRAPH 2003 Papers
Application of inverse kinematics for skeleton manipulation in real-time
SCCG '03 Proceedings of the 19th spring conference on Computer graphics
Synthesizing physically realistic human motion in low-dimensional, behavior-specific spaces
ACM SIGGRAPH 2004 Papers
Spherical blend skinning: a real-time deformation of articulated models
Proceedings of the 2005 symposium on Interactive 3D graphics and games
Adapting motion capture data using weighted real-time inverse kinematics
Computers in Entertainment (CIE) - Theoretical and Practical Computer Applications in Entertainment
ACM SIGGRAPH 2005 Papers
Learning physics-based motion style with nonlinear inverse optimization
ACM SIGGRAPH 2005 Papers
Computing inverse kinematics with linear programming
Proceedings of the ACM symposium on Virtual reality software and technology
Three Dimensional Monocular Human Motion Analysis in End-Effector Space
EMMCVPR '09 Proceedings of the 7th International Conference on Energy Minimization Methods in Computer Vision and Pattern Recognition
ICIC'05 Proceedings of the 2005 international conference on Advances in Intelligent Computing - Volume Part II
Natural metrics and least-committed priors for articulated tracking
Image and Vision Computing
Unscented Kalman Filtering on Riemannian Manifolds
Journal of Mathematical Imaging and Vision
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Inverse kinematics is the problem of manipulating the pose of an articulated figure in order to achieve a desired goal disregarding inertia and forces. One can approach the problem as a non-linear optimization problem or as non-linear equation solving. The former approach is superior in its generality and ability to generate realistic poses, whereas the latter approach is recognized for its low iteration cost. Therefore, many prefer equation solving over optimization for interactive applications. In this paper we present a projected-gradient method for solving an inverse kinematics problem interactively, which exhibit good performance and precision. The method is compared to existing work in terms of visual quality and accuracy. Our method shows good convergence properties and deals with joint constraints in a simple and elegant manner. Our main contribution lies in an explicit incorporation of joint limits in an interactive solver. This makes it possible to compute the pose in each frame without the discontinuities exhibited by existing key frame animation techniques.