A projected back-tracking line-search for constrained interactive inverse kinematics

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Standard

A projected back-tracking line-search for constrained interactive inverse kinematics. / Engell-Nørregård, Morten Pol; Erleben, Kenny.

In: Computers & Graphics, Vol. 35, No. 2, 2011, p. 288-298.

Research output: Contribution to journal › Journal article › Research › peer-review

Harvard

Engell-Nørregård, MP & Erleben, K 2011, 'A projected back-tracking line-search for constrained interactive inverse kinematics', Computers & Graphics, vol. 35, no. 2, pp. 288-298. https://doi.org/10.1016/j.cag.2010.12.011

APA

Engell-Nørregård, M. P., & Erleben, K. (2011). A projected back-tracking line-search for constrained interactive inverse kinematics. Computers & Graphics, 35(2), 288-298. https://doi.org/10.1016/j.cag.2010.12.011

Vancouver

Engell-Nørregård MP, Erleben K. A projected back-tracking line-search for constrained interactive inverse kinematics. Computers & Graphics. 2011;35(2):288-298. https://doi.org/10.1016/j.cag.2010.12.011

Author

Engell-Nørregård, Morten Pol ; Erleben, Kenny. / A projected back-tracking line-search for constrained interactive inverse kinematics. In: Computers & Graphics. 2011 ; Vol. 35, No. 2. pp. 288-298.

Bibtex

@article{35aa97b29b904377b613fa9efe8843e9,
title = "A projected back-tracking line-search for constrained interactive inverse kinematics",
abstract = "Inverse kinematics is the problem of manipulating the pose of an articulated figure in order to achieve a desired goal disregarding inertia and forces. One can approach the problem as a non-linear optimization problem or as non-linear equation solving. The former approach is superior in its generality and ability to generate realistic poses, whereas the latter approach is recognized for its low iteration cost. Therefore, many prefer equation solving over optimization for interactive applications. In this paper we present a projected-gradient method for solving an inverse kinematics problem interactively, which exhibit good performance and precision. The method is compared to existing work in terms of visual quality and accuracy. Our method shows good convergence properties and deals with joint constraints in a simple and elegant manner. Our main contribution lies in an explicit incorporation of joint limits in an interactive solver. This makes it possible to compute the pose in each frame without the discontinuities exhibited by existing key frame animation techniques.",
author = "Engell-N{\o}rreg{\aa}rd, {Morten Pol} and Kenny Erleben",
year = "2011",
doi = "10.1016/j.cag.2010.12.011",
language = "English",
volume = "35",
pages = "288--298",
journal = "Computers and Graphics",
issn = "0097-8493",
publisher = "Pergamon Press",
number = "2",

}

RIS

TY - JOUR

T1 - A projected back-tracking line-search for constrained interactive inverse kinematics

AU - Engell-Nørregård, Morten Pol

AU - Erleben, Kenny

PY - 2011

Y1 - 2011

N2 - Inverse kinematics is the problem of manipulating the pose of an articulated figure in order to achieve a desired goal disregarding inertia and forces. One can approach the problem as a non-linear optimization problem or as non-linear equation solving. The former approach is superior in its generality and ability to generate realistic poses, whereas the latter approach is recognized for its low iteration cost. Therefore, many prefer equation solving over optimization for interactive applications. In this paper we present a projected-gradient method for solving an inverse kinematics problem interactively, which exhibit good performance and precision. The method is compared to existing work in terms of visual quality and accuracy. Our method shows good convergence properties and deals with joint constraints in a simple and elegant manner. Our main contribution lies in an explicit incorporation of joint limits in an interactive solver. This makes it possible to compute the pose in each frame without the discontinuities exhibited by existing key frame animation techniques.

AB - Inverse kinematics is the problem of manipulating the pose of an articulated figure in order to achieve a desired goal disregarding inertia and forces. One can approach the problem as a non-linear optimization problem or as non-linear equation solving. The former approach is superior in its generality and ability to generate realistic poses, whereas the latter approach is recognized for its low iteration cost. Therefore, many prefer equation solving over optimization for interactive applications. In this paper we present a projected-gradient method for solving an inverse kinematics problem interactively, which exhibit good performance and precision. The method is compared to existing work in terms of visual quality and accuracy. Our method shows good convergence properties and deals with joint constraints in a simple and elegant manner. Our main contribution lies in an explicit incorporation of joint limits in an interactive solver. This makes it possible to compute the pose in each frame without the discontinuities exhibited by existing key frame animation techniques.

U2 - 10.1016/j.cag.2010.12.011

DO - 10.1016/j.cag.2010.12.011

M3 - Journal article

VL - 35

SP - 288

EP - 298

JO - Computers and Graphics

JF - Computers and Graphics

SN - 0097-8493

IS - 2

ER -

ID: 32298823