Using dynamic analysis for realistic animation of articulated bodies
IEEE Computer Graphics and Applications
Articulated figure positioning by multiple constraints
IEEE Computer Graphics and Applications
Interactive design of 3D computer-animated legged animal motion
IEEE Computer Graphics and Applications
Near-real-time control of human figure models
IEEE Computer Graphics and Applications
Controlling dynamic simulation with kinematic constraints
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
Computational modeling for the computer animation of legged figures
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
SIGGRAPH '88 Proceedings of the 15th 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
Collision Detection and Response for Computer Animation
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Realistic animation of rigid bodies
SIGGRAPH '88 Proceedings of the 15th annual conference on Computer graphics and interactive techniques
Computer animation of knowledge-based human grasping
Proceedings of the 18th annual conference on Computer graphics and interactive techniques
Footskate cleanup for motion capture editing
Proceedings of the 2002 ACM SIGGRAPH/Eurographics symposium on Computer animation
Complex Character Positioning Based on a Compatible Flow Model of Multiple Supports
IEEE Transactions on Visualization and Computer Graphics
Application of inverse kinematics for skeleton manipulation in real-time
SCCG '03 Proceedings of the 19th spring conference on Computer graphics
Interactive motion deformation with prioritized constraints
SCA '04 Proceedings of the 2004 ACM SIGGRAPH/Eurographics symposium on Computer animation
Interactive motion deformation with prioritized constraints
Graphical Models - Special issue on SCA 2004
Computational studies of human motion: part 1, tracking and motion synthesis
Foundations and Trends® in Computer Graphics and Vision
Interactive animation of dynamic manipulation
Proceedings of the 2006 ACM SIGGRAPH/Eurographics symposium on Computer animation
Full-body performance animation with Sequential Inverse Kinematics
Graphical Models
Motion Pattern Encapsulation for Data-Driven Constraint-Based Motion Editing
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
Boneless pose editing and animation
SCIA'07 Proceedings of the 15th Scandinavian conference on Image analysis
Stable and efficient differential inverse kinematics
ACM SIGGRAPH ASIA 2010 Sketches
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Realistic motion simulation for articulated figures has relied on the solution of linear systems of equations. Sometimes the solution of these equations presents a great deal of numerical difficulty, resulting in unrealistic or spurious motion for the figure or in excessive computation because of small integration intervals. The cause of the difficulty is shown to be related to the physical structure of the figure, not the mathematical formulation. It is shown how to determine the severity of ill conditioning and how to obtain physically meaningful solutions without excessive computations, even when dealing with extremely ill-conditioned configurations.