A geometric investigation of reach
A geometric investigation of reach
Articulated figure positioning by multiple constraints
IEEE Computer Graphics and Applications
Energy constraints on parameterized models
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Interactive real-time articulated figure manipulation using multiple kinematic constraints
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
SIGGRAPH '90 Proceedings of the 17th annual conference on Computer graphics and interactive techniques
On the evaluation of reachable workspace for redundant manipulators
IEA/AIE '90 Proceedings of the 3rd international conference on Industrial and engineering applications of artificial intelligence and expert systems - Volume 2
Interactive behaviors for bipedal articulated figures
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Simulating humans: computer graphics animation and control
Simulating humans: computer graphics animation and control
Computational modeling for the computer animation of legged figures
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
A modeling system based on dynamic constraints
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
A Kinematic Model of the Human Spine and Torso
IEEE Computer Graphics and Applications
Special problems in human movement simulation
SIGGRAPH '80 Proceedings of the 7th annual conference on Computer graphics and interactive techniques
Production and playback of human figure motion for visual simulation
ACM Transactions on Modeling and Computer Simulation (TOMACS) - Special issue on graphics, animation, and visualization for simulation environments
Efficient generation of motion transitions using spacetime constraints
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
Interactive arrangement of botanical L-system models
I3D '99 Proceedings of the 1999 symposium on Interactive 3D graphics
A hierarchical approach to interactive motion editing for human-like figures
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
WordsEye: an automatic text-to-scene conversion system
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Computer puppetry: An importance-based approach
ACM Transactions on Graphics (TOG)
A geometric constraint library for 3D graphical applications
Proceedings of the 2nd international symposium on Smart graphics
Motion Abstraction and Mapping with Spatial Constraints
CAPTECH '98 Proceedings of the International Workshop on Modelling and Motion Capture Techniques for Virtual Environments
Models with Biological Relevance to Control Anthropomorphic Limbs: A Survey
GW '01 Revised Papers from the International Gesture Workshop on Gesture and Sign Languages in Human-Computer Interaction
Real-Time Human Motion Analysis Based on Analysis of Silhouette Contour and Color Blob
AMDO '02 Proceedings of the Second International Workshop on Articulated Motion and Deformable Objects
PG '99 Proceedings of the 7th Pacific Conference on Computer Graphics and Applications
Optimization-Based Virtual Surface Contact Manipulation at Force Control Rates
VR '00 Proceedings of the IEEE Virtual Reality 2000 Conference
Production and playback of human figure motion for 3D virtual environments
VRAIS '95 Proceedings of the Virtual Reality Annual International Symposium (VRAIS'95)
Handrix: animating the human hand
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Mapping optical motion capture data to skeletal motion using a physical model
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
A sketching interface for articulated figure animation
Proceedings of the 2003 ACM SIGGRAPH/Eurographics symposium on Computer animation
Resolution of the inverse kinematic of an articulated structure using the Jacobian pseudo-inverse
Graphics programming methods
Application of inverse kinematics for skeleton manipulation in real-time
SCCG '03 Proceedings of the 19th spring conference on Computer graphics
Methods for exploring expressive stance
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive motion deformation with prioritized constraints
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Adapting motion capture data using weighted real-time inverse kinematics
Computers in Entertainment (CIE) - Theoretical and Practical Computer Applications in Entertainment
Skeletal animation for the exploration of graphs
APVis '04 Proceedings of the 2004 Australasian symposium on Information Visualisation - Volume 35
Graph interaction through force-based skeletal animation
APVis '04 Proceedings of the 2004 Australasian symposium on Information Visualisation - Volume 35
Real-time interactive motion transitions by a uniform posture map
Future Generation Computer Systems
Animation planning for virtual characters cooperation
ACM Transactions on Graphics (TOG)
Methods for exploring expressive stance
Graphical Models - Special issue on SCA 2004
Interactive motion deformation with prioritized constraints
Graphical Models - Special issue on SCA 2004
Practical 3D animation of multiply articulated construction equipment
WSC '04 Proceedings of the 36th conference on Winter simulation
Computational studies of human motion: part 1, tracking and motion synthesis
Foundations and Trends® in Computer Graphics and Vision
Validating retargeted and interpolated locomotions by dynamics-based analysis
Proceedings of the 4th international conference on Computer graphics and interactive techniques in Australasia and Southeast Asia
A sketching interface for articulated figure animation
ACM SIGGRAPH 2006 Courses
Human Pose Estimation Using Partial Configurations and Probabilistic Regions
International Journal of Computer Vision
Data-Driven Grasp Synthesis Using Shape Matching and Task-Based Pruning
IEEE Transactions on Visualization and Computer Graphics
Mesh puppetry: cascading optimization of mesh deformation with inverse kinematics
ACM SIGGRAPH 2007 papers
Providing signed content on the Internet by synthesized animation
ACM Transactions on Computer-Human Interaction (TOCHI)
A sketching interface for articulated figure animation
ACM SIGGRAPH 2007 courses
Real-time motion retargeting to highly varied user-created morphologies
ACM SIGGRAPH 2008 papers
Animation planning for virtual characters cooperation
ACM SIGGRAPH 2008 classes
A model of gaze for the purpose of emotional expression in virtual embodied agents
Proceedings of the 7th international joint conference on Autonomous agents and multiagent systems - Volume 1
Efficient constraint dynamics using MILC SHAKE
Journal of Computational Physics
Full-body performance animation with Sequential Inverse Kinematics
Graphical Models
Real-time human motion analysis for human-machine interface
Proceedings of the Working Conference on Advanced Visual Interfaces
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
Adding image constraints to inverse kinematics for human motion capture
EURASIP Journal on Advances in Signal Processing - Image processing and analysis in biomechanics
Classification and characterization of inverse kinematics solutions for anthropomorphic manipulators
Robotics and Autonomous Systems
Real-Time Character Control for Wrestling Games
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Integrated Analytic and Linearized Inverse Kinematics for Precise Full Body Interactions
MIG '09 Proceedings of the 2nd International Workshop on Motion in Games
Real-time interactive motion transitions by a uniform posture map
Future Generation Computer Systems
A real-time natural motion edit by the uniform posture map algorithm
ICCSA'03 Proceedings of the 2003 international conference on Computational science and its applications: PartIII
ICCS'03 Proceedings of the 1st international conference on Computational science: PartI
The inductive inverse kinematics algorithm to manipulate the posture of an articulated body
ICCS'03 Proceedings of the 1st international conference on Computational science: PartI
Performance analysis of FIK and DLS inverse kinematics using six degree of freedom manipulator
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Path planning for redundant manipulator without explicit inverse kinematics solution
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Gaussian-like spatial priors for articulated tracking
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part I
Stable and efficient differential inverse kinematics
ACM SIGGRAPH ASIA 2010 Sketches
A sketching interface for sitting-pose design
Proceedings of the Seventh Sketch-Based Interfaces and Modeling Symposium
Procedural skeletons: kinematic extensions to CGA-shape grammars
Proceedings of the 26th Spring Conference on Computer Graphics
Predicting Articulated Human Motion from Spatial Processes
International Journal of Computer Vision
FABRIK: A fast, iterative solver for the Inverse Kinematics problem
Graphical Models
Optimization-based posture prediction for analysis of box lifting tasks
ICDHM'11 Proceedings of the Third international conference on Digital human modeling
Layered interpolation for interactive avatar control
Proceedings of the 10th International Conference on Virtual Reality Continuum and Its Applications in Industry
Sports equipment based motion deformation
ICCSA'05 Proceedings of the 2005 international conference on Computational Science and Its Applications - Volume Part III
Research and implement of virtual human's walking model in maintenance simulation
Edutainment'06 Proceedings of the First international conference on Technologies for E-Learning and Digital Entertainment
Spatial measures between human poses for classification and understanding
AMDO'12 Proceedings of the 7th international conference on Articulated Motion and Deformable Objects
The line of action: an intuitive interface for expressive character posing
ACM Transactions on Graphics (TOG)
Optimization-based posture reconstruction for digital human models
Computers and Industrial Engineering
Hybrid motion graph for character motion synthesis
Journal of Visual Languages and Computing
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An articulated figure is often modeled as a set of rigid segments connected with joints. Its configuration can be altered by varying the joint angles. Although it is straight forward to compute figure configurations given joint angles (forward kinematics), it is more difficult to find the joint angles for a desired configuration (inverse kinematics). Since the inverse kinematics problem is of special importance to an animator wishing to set a figure to a posture satisfying a set of positioning constraints, researchers have proposed several different approaches. However, when we try to follow these approaches in an interactive animation system where the object on which to operate is as highly articulated as a realistic human figure, they fail in either generality or performance. So, we approach this problem through nonlinear programming techniques. It has been successfully used since 1988 in the spatial constraint system within Jack, a human figure simulation system developed at the University of Pennsylvania, and proves to be satisfactorily efficient, controllable, and robust. A spatial constraint in our system involves two parts: one constraint on the figure, the end-effector, and one on the spatial environment, the goal. These two parts are dealt with separately, so that we can achieve a neat modular implementation. Constraints can be added one at a time with appropriate weights designating the importance of this constraint relative to the others and are always solved as a group. If physical limits prevent satisfaction of all the constraints, the system stops with the (possibly local) optimal solution for the given weights. Also, the rigidity of each joint angle can be controlled, which is useful for redundant degrees of freedom.