A Fast Inverse Kinematics Solver using Intersection of Circles

dc.contributor.authorRamachandran, Srinivasanen_US
dc.contributor.authorJohn, Nigel W.en_US
dc.contributor.editorSilvester Czanner and Wen Tangen_US
dc.date.accessioned2014-01-31T20:18:43Z
dc.date.available2014-01-31T20:18:43Z
dc.date.issued2013en_US
dc.description.abstractInverse Kinematics (IK) calculates the joint angles of an articulated object so that its end effector can be positioned as desired. This paper presents an efficient IK method using a geometric solver based on the intersection of circles. For an articulated object with n joints, our method will position the end-effector accurately and requires only a reverse iteration of (n-2). An intuitive user interface is provided, which automatically keeps the end effector between the maximum and minimum extent of the articulated object. Common problems that can occur with other IK methods are avoided. The algorithm has been implemented using WebGL and Javascript and tested by simulating a human hand, a three joint robot arm and human cycling motion, achieving interactive rates of up to 60 FPSen_US
dc.description.seriesinformationTheory and Practice of Computer Graphicsen_US
dc.identifier.isbn978-3-905673-98-2en_US
dc.identifier.urihttps://doi.org/10.2312/LocalChapterEvents.TPCG.TPCG13.033-039en_US
dc.publisherThe Eurographics Associationen_US
dc.subjectI.3. 7 [Computer Graphics]en_US
dc.subjectThree Dimensional Graphics and Realismen_US
dc.subjectAnimation.en_US
dc.titleA Fast Inverse Kinematics Solver using Intersection of Circlesen_US
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