Analytical inverse kinematics with body posture control

Abstract

This paper presents a novel whole-body analytical inverse kinematics (IK) method integrating collision avoidance and customizable body control for animating reaching tasks in real-time. Whole-body control is achieved with the interpolation of pre-designed key body postures, which are organized as a function of the direction to the goal to be reached. Arm postures are computed by the analytical IK solution for human-like arms and legs, extended with a new simple search method for achieving postures avoiding joint limits and collisions. In addition, a new IK resolution is presented that directly solves for joints parameterized in the swing-and-twist decomposition. The overall method is simple to implement, fast, and accurate, and therefore suitable for interactive applications controlling the hands of characters. The source code of the IK implementation is provided.

Adaptive locomotion on slopes and stairs using pelvic rotation

“…This type of algorithm has been adapted in more complex hybrid IK solvers [12,14,20,30]. Shin and colleagues suggested a method of taking care of interactions between hands (or feet) and objects (or the ground) [30].…”

Content Creation and Authoring Challenges for Virtual Environments: From User Interfaces to Autonomous Virtual Characters

“…Common solutions to motion modeling rely on either hand-crafted motions [63,20,60] with commercial modeling tools or algorithmically synthesizing gestures with algorithmic procedures such as Inverse Kinematics [31,28]. However it remains difficult to achieve both controllable and realistic results, and every attempt to solve the problem purely algorithmically will require specific adaptations and models for every new action and situation being modeled.…”

Interactive Demonstration of Pointing Gestures for Virtual Trainers

“…Next, we use the position and orientation (p b ',q b ) as a IK goal for producing a new arm posture precisely pointing the target. We use a fast analytical IK solver [15] which allows specifying the swivel angle of the final arm posture to be the same as the swivel angle observed in the stroke posture of m b . The solved IK posture will therefore precisely point the target and at the same time will be very similar to the blended posture due to the enforcement of the original q b and the swivel angle.…”