Inverse Kinematic Solutions for Articulated Characters using Massively Parallel Architectures and Differential Evolutionary Algorithms

Eurographics DL Repository

Show simple item record Kenwright, Ben en_US
dc.contributor.editor Fabrice Jaillet and Florence Zara en_US 2017-04-22T17:18:19Z 2017-04-22T17:18:19Z 2017
dc.identifier.isbn 978-3-03868-032-1
dc.description.abstract This paper presents a Differential Evolutionary (DE) algorithm for solving multi-objective kinematic problems (e.g., end-effector locations, centre-of-mass and comfort factors). Inverse kinematic problems in the context of character animation systems are one of the most challenging and important conundrums. The problems depend upon multiple geometric factors in addition to cosmetic and physical aspects. Further complications stem from the fact that there may be non or an infinite number of solutions to the problem (especially for highly redundant manipulator structures, such as, articulated characters). What is more, the problem is global and tightly coupled so small changes to individual link's impacts the overall solution. Our method focuses on generating approximate solutions for a range of inverse kinematic problems (for instance, positions, orientations and physical factors, like overall centre-of-mass location) using a Differential Evolutionary algorithm. The algorithm is flexible enough that it can be applied to a range of open ended problems including highly non-linear discontinuous systems with prioritisation. Importantly, evolutionary algorithms are typically renowned for taking considerable time to find a solution. We help reduce this burden by modifying the algorithm to run on a massively parallel architecture (like the GPU) using a CUDA-based framework. The computational model is evaluated using a variety of test cases to demonstrate the techniques viability (speed and ability to solve multi-objective problems). The modified parallel evolutionary solution helps reduce execution times compared to the serial DE, while also obtaining a solution within a specified margin of error (<1%). en_US
dc.publisher The Eurographics Association en_US
dc.subject Keywords
dc.subject inverse kinematics
dc.subject animation
dc.subject differential evolution
dc.subject multi
dc.subject threading
dc.subject patterns
dc.subject motion
dc.subject detection
dc.subject poses
dc.subject articulated skeletons
dc.title Inverse Kinematic Solutions for Articulated Characters using Massively Parallel Architectures and Differential Evolutionary Algorithms en_US
dc.description.seriesinformation Workshop on Virtual Reality Interaction and Physical Simulation
dc.description.sectionheaders Session 3
dc.identifier.doi 10.2312/vriphys.20171085
dc.identifier.pages 67-74

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