Title: A robust inverse kinematics algorithm for animating a joint chain

Authors: R. Mukundan

Addresses: Department of Computer Science and Software Engineering, University of Canterbury, Christchurch, New Zealand

Abstract: The cyclic coordinate descent (CCD) is a well-known algorithm used for inverse kinematics solutions in applications involving joint chains and moving targets. Even though a CCD algorithm can be easily implemented, it can take a series of iterations before converging to a solution and also generate undesirable joint rotations. This paper presents a novel single-pass algorithm that is fast and eliminates problems associated with improper and large angle rotations. Experimental results are presented to show the performance benefits of the proposed algorithm over CCD and the |triangulation| methods, using different types of cost functions.

Keywords: character animation; cyclic coordinate descent; CCD; goal-directed motion; inverse kinematics; joint chains; moving targets.

DOI: 10.1504/IJCAT.2009.024084

International Journal of Computer Applications in Technology, 2009 Vol.34 No.4, pp.303 - 308

Published online: 25 Mar 2009 *

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