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- Publisher Website: 10.1145/1101616.1101651
- Scopus: eid_2-s2.0-33748693375
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Conference Paper: Computing inverse kinematics with linear programming
Title | Computing inverse kinematics with linear programming |
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Authors | |
Keywords | Real-time motion synthesis Inverse kinematics Linear programming |
Issue Date | 2005 |
Citation | Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST, 2005, v. 2005, p. 163-166 How to Cite? |
Abstract | Inverse Kinematics (IK) is a popular technique for synthesizing motions of virtual characters. In this paper, we propose a Linear Programming based IK solver (LPIK) for interactive control of arbitrary multibody structures. There are several advantages of using LPIK. First, inequality constraints can be handled, and therefore the ranges of the DOFs and collisions of the body with other obstacles can be handled easily. Second, the performance of LPIK is comparable or sometimes better than the IK method based on Lagrange multipliers, which is known as the best IK solver today. The computation time by LPIK increases only linearly proportional to the number of constraints or DOFs. Hence, LPIK is a suitable approach for controlling articulated systems with large DOFs and constraints for real-time applications. Copyright 2005 ACM. |
Persistent Identifier | http://hdl.handle.net/10722/288617 |
DC Field | Value | Language |
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dc.contributor.author | Ho, Edmond S.L. | - |
dc.contributor.author | Komura, Taku | - |
dc.contributor.author | Lau, Rynson W.H. | - |
dc.date.accessioned | 2020-10-12T08:05:25Z | - |
dc.date.available | 2020-10-12T08:05:25Z | - |
dc.date.issued | 2005 | - |
dc.identifier.citation | Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST, 2005, v. 2005, p. 163-166 | - |
dc.identifier.uri | http://hdl.handle.net/10722/288617 | - |
dc.description.abstract | Inverse Kinematics (IK) is a popular technique for synthesizing motions of virtual characters. In this paper, we propose a Linear Programming based IK solver (LPIK) for interactive control of arbitrary multibody structures. There are several advantages of using LPIK. First, inequality constraints can be handled, and therefore the ranges of the DOFs and collisions of the body with other obstacles can be handled easily. Second, the performance of LPIK is comparable or sometimes better than the IK method based on Lagrange multipliers, which is known as the best IK solver today. The computation time by LPIK increases only linearly proportional to the number of constraints or DOFs. Hence, LPIK is a suitable approach for controlling articulated systems with large DOFs and constraints for real-time applications. Copyright 2005 ACM. | - |
dc.language | eng | - |
dc.relation.ispartof | Proceedings of the ACM Symposium on Virtual Reality Software and Technology, VRST | - |
dc.subject | Real-time motion synthesis | - |
dc.subject | Inverse kinematics | - |
dc.subject | Linear programming | - |
dc.title | Computing inverse kinematics with linear programming | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1145/1101616.1101651 | - |
dc.identifier.scopus | eid_2-s2.0-33748693375 | - |
dc.identifier.volume | 2005 | - |
dc.identifier.spage | 163 | - |
dc.identifier.epage | 166 | - |