TY - RPRT

T1 - Inverse Kinematics using Quaternions

T2 - Graduate project, 7.5 ECTS, Supervisor: Kenny Erleben

AU - Henriksen, Knud

AU - Erleben, Kenny

AU - Engell-Nørregård, Morten

N1 - Technical Report no. 08/14

PY - 2008

Y1 - 2008

N2 - In this project I describe the status of inverse kinematics research,with the focus firmly on the methods that solve the core problem. Anoverview of the different methods are presentedThree common methods used in inverse kinematics computation havebeen chosen as subject for closer inspection. The three methods aredescribed in some detail. An analysis is performed where the threemethods are compared, and benchmarked against each other.I conclude which of the methods are the most promising and what theirrespective forces, weaknesses and prospects are. All figures shown aremade using the test suite, developed in this project and in [4].Source code developed for this project includes the CCD method ,improvements on the BFGS method and Jacobian inverse originallydeveloped in [4].

AB - In this project I describe the status of inverse kinematics research,with the focus firmly on the methods that solve the core problem. Anoverview of the different methods are presentedThree common methods used in inverse kinematics computation havebeen chosen as subject for closer inspection. The three methods aredescribed in some detail. An analysis is performed where the threemethods are compared, and benchmarked against each other.I conclude which of the methods are the most promising and what theirrespective forces, weaknesses and prospects are. All figures shown aremade using the test suite, developed in this project and in [4].Source code developed for this project includes the CCD method ,improvements on the BFGS method and Jacobian inverse originallydeveloped in [4].

M3 - Report

BT - Inverse Kinematics using Quaternions

PB - Museum Tusculanum

CY - Department of Computer Science

ER -