A Projected Non-linear Conjugate Gradient Method for Interactive Inverse Kinematics.

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Inverse kinematics is the problem of posing an articulated figure to obtain a wanted goal,
without regarding inertia and forces. Joint limits are modeled as bounds on individual degrees of freedom,
leading to a box-constrained optimization problem. We present A projected Non-linear Conjugate
Gradient optimization method suitable for box-constrained optimization problems for inverse kinematics.
We show application on inverse kinematics positioning of a human figure. Performance is measured
and compared to a traditional Jacobian Transpose method. Visual quality of the developed method is
Original languageEnglish
Title of host publicationProceedings MATHMOD 09 Vienna, ARGESIM Report no. 35
EditorsInge Troch, Felix Breitenecker
Publication date2009
ISBN (Electronic)978-3-901608-35-3
Publication statusPublished - 2009
EventMATHMOD 2009 - 6th Vienna International Conference on Mathematical Modelling - Wien, Austria
Duration: 11 Feb 200913 Feb 2009
Conference number: 6


ConferenceMATHMOD 2009 - 6th Vienna International Conference on Mathematical Modelling

ID: 15712717