Linear-time dynamics using Lagrange multipliers
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
A hierarchical approach to interactive motion editing for human-like figures
Proceedings of the 26th annual conference on Computer graphics and interactive techniques
Style-based inverse kinematics
ACM SIGGRAPH 2004 Papers
Automated extraction and parameterization of motions in large data sets
ACM SIGGRAPH 2004 Papers
IEEE Transactions on Robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Resolve redundancy with constraints for obstacle and singularity avoidance subgoals
International Journal of Robotics and Automation
Hi-index | 0.00 |
Inverse Kinematics (IK) is a popular technique for synthesizing motions of virtual characters. In this paper, we propose a Linear Programming based IK solver (LPIK) for interactive control of arbitrary multibody structures. There are several advantages of using LPIK. First, inequality constraints can be handled, and therefore the ranges of the DOFs and collisions of the body with other obstacles can be handled easily. Second, the performance of LPIK is comparable or sometimes better than the IK method based on Lagrange multipliers, which is known as the best IK solver today. The computation time by LPIK increases only linearly proportional to the number of constraints or DOFs. Hence, LPIK is a suitable approach for controlling articulated systems with large DOFs and constraints for real-time applications.