Interactive real-time articulated figure manipulation using multiple kinematic constraints
I3D '90 Proceedings of the 1990 symposium on Interactive 3D graphics
Linear-time dynamics using Lagrange multipliers
SIGGRAPH '96 Proceedings of the 23rd 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
Animating Human Locomotion with Inverse Dynamics
IEEE Computer Graphics and Applications
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Motion capture is an essential technique for interactive systems, such as distributed virtual reality, video games, and entertainment. Inverse kinematics algorithms are often used to minimize the number of trackers required for motion capture systems. The solving of inverse kinematics problems can be computationally expensive. We introduce a real-time algorithm for inverse kinematics computation, originally from the field of molecular simulation, called SHAKE. We also describe the implementation of the algorithm in our motion capture system for avatar motion generation through constraint dynamics. We demonstrate that the algorithm has advantages over conventional methods with properties of fast convergence, energy stability, and constraint system consistency when adding additional constraints.