Inverse kinematics positioning using nonlinear programming for highly articulated figures
ACM Transactions on Graphics (TOG)
A hierarchical approach to interactive motion editing for human-like figures
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Animating rotation with quaternion curves
SIGGRAPH '85 Proceedings of the 12th annual conference on Computer graphics and interactive techniques
Real-time inverse kinematics techniques for anthropomorphic limbs
Graphical Models and Image Processing
Computer puppetry: An importance-based approach
ACM Transactions on Graphics (TOG)
Motion Simulation: Dealing with the Ill-Conditioned Equations of Motion for Articulated Figures
IEEE Computer Graphics and Applications
Practical parameterization of rotations using the exponential map
Journal of Graphics Tools
Realistic Articulated Character Positioning and Balance Control in Interactive Environments
CA '99 Proceedings of the Computer Animation
Kinematic control of human postures for task simulation
Kinematic control of human postures for task simulation
Adapting motion capture data using weighted real-time inverse kinematics
Computers in Entertainment (CIE) - Theoretical and Practical Computer Applications in Entertainment
Monocular reconstruction of human translation in motion sequence by MTA
Proceedings of the 5th international conference on Computer graphics and interactive techniques in Australia and Southeast Asia
Human animation from 2D correspondence based on motion trend prediction
AIKED'06 Proceedings of the 5th WSEAS International Conference on Artificial Intelligence, Knowledge Engineering and Data Bases
Tangible handimation real-time animation with a sequencer-based tangible interface
Proceedings of the 5th Nordic conference on Human-computer interaction: building bridges
Natural Pose Generation from a Reduced Dimension Motion Capture Data Space
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Human animation from 2d correspondence based on motion trend prediction
CGI'06 Proceedings of the 24th international conference on Advances in Computer Graphics
A predictive evolutionary algorithm for dynamic constrained inverse kinematics problems
HAIS'12 Proceedings of the 7th international conference on Hybrid Artificial Intelligent Systems - Volume Part I
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Usual way of character's animation is the use of motion captured data. Acquired bones' orientations are blended together according to user input in real-time. Although this massively used method gives a nice results, practical experience show how important is to have a system for interactive direct manipulation of character's skeleton in order to satisfy various tasks in Cartesian space. For this purpose, various methods for solving inverse kinematics problem are used. This paper presents three of such methods: Algebraical method based on limbs positioning; iterative optimization method based on Jacobian pseudo-inversion; and heuristic CCD iterative method. The paper describes them all in detail and discusses practical scope of their use in real-time applications.