Staff – University of Copenhagen

Inverse Kinematics using Quaternions: Graduate project, 7.5 ECTS, Supervisor: Kenny Erleben

Research output: Book/ReportReportResearch

Standard

Inverse Kinematics using Quaternions : Graduate project, 7.5 ECTS, Supervisor: Kenny Erleben. / Henriksen, Knud; Erleben, Kenny; Engell-Nørregård, Morten.

Department of Computer Science : Museum Tusculanum, 2008. 22 p.

Research output: Book/ReportReportResearch

Harvard

Henriksen, K, Erleben, K & Engell-Nørregård, M 2008, Inverse Kinematics using Quaternions: Graduate project, 7.5 ECTS, Supervisor: Kenny Erleben. Museum Tusculanum, Department of Computer Science.

APA

Henriksen, K., Erleben, K., & Engell-Nørregård, M. (2008). Inverse Kinematics using Quaternions: Graduate project, 7.5 ECTS, Supervisor: Kenny Erleben. Department of Computer Science: Museum Tusculanum.

Vancouver

Henriksen K, Erleben K, Engell-Nørregård M. Inverse Kinematics using Quaternions: Graduate project, 7.5 ECTS, Supervisor: Kenny Erleben. Department of Computer Science: Museum Tusculanum, 2008. 22 p.

Author

Henriksen, Knud ; Erleben, Kenny ; Engell-Nørregård, Morten. / Inverse Kinematics using Quaternions : Graduate project, 7.5 ECTS, Supervisor: Kenny Erleben. Department of Computer Science : Museum Tusculanum, 2008. 22 p.

Bibtex

@book{6e264de0cdbd11dd9473000ea68e967b,
title = "Inverse Kinematics using Quaternions: Graduate project, 7.5 ECTS, Supervisor: Kenny Erleben",
abstract = "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].",
author = "Knud Henriksen and Kenny Erleben and Morten Engell-N{\o}rreg{\aa}rd",
note = "Technical Report no. 08/14",
year = "2008",
language = "English",
publisher = "Museum Tusculanum",

}

RIS

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 -

ID: 9251330