A Projected Non-linear Conjugate Gradient Method for Interactive Inverse Kinematics.
Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
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A Projected Non-linear Conjugate Gradient Method for Interactive Inverse Kinematics. / Engell-Nørregård, Morten; Erleben, Kenny.
Proceedings MATHMOD 09 Vienna, ARGESIM Report no. 35. ed. / Inge Troch; Felix Breitenecker. 2009.Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review
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TY - GEN
T1 - A Projected Non-linear Conjugate Gradient Method for Interactive Inverse Kinematics.
AU - Engell-Nørregård, Morten
AU - Erleben, Kenny
N1 - Conference code: 6
PY - 2009
Y1 - 2009
N2 - Inverse kinematics is the problem of posing an articulated figure to obtain a wanted goal,without regarding inertia and forces. Joint limits are modeled as bounds on individual degrees of freedom,leading to a box-constrained optimization problem. We present A projected Non-linear ConjugateGradient optimization method suitable for box-constrained optimization problems for inverse kinematics.We show application on inverse kinematics positioning of a human figure. Performance is measuredand compared to a traditional Jacobian Transpose method. Visual quality of the developed method isevaluated.
AB - Inverse kinematics is the problem of posing an articulated figure to obtain a wanted goal,without regarding inertia and forces. Joint limits are modeled as bounds on individual degrees of freedom,leading to a box-constrained optimization problem. We present A projected Non-linear ConjugateGradient optimization method suitable for box-constrained optimization problems for inverse kinematics.We show application on inverse kinematics positioning of a human figure. Performance is measuredand compared to a traditional Jacobian Transpose method. Visual quality of the developed method isevaluated.
M3 - Article in proceedings
BT - Proceedings MATHMOD 09 Vienna, ARGESIM Report no. 35
A2 - Troch, Inge
A2 - Breitenecker, Felix
Y2 - 11 February 2009 through 13 February 2009
ER -
ID: 15712717