Inverse Kinematics – Cyclic Coordinate Descent (CCD)

Kenwright, Ben

doi:10.1080/2165347x.2013.823362

Cited by 50 publications

(21 citation statements)

References 10 publications

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“…In this manner, Mahmudi and Kallmann's proposed a variation of CCD named inverse branch kinematics (IBK) [MK11], aiming to deal with the production of unnatural pose, by assigning a continuous rotational range to control a pre‐defined global‐transition‐cost threshold. Moreover, Kenwright [Ken12a] introduced a biasing factor into each iteration in order to correct the rotation at each time. He also improved the CCD convergence by adding a feedback constant, which is the distance between end effector and target, which later multiplies with the under‐damped factor to produce smaller values closer to the target.…”

Section: Numerical Solutionsmentioning

confidence: 99%

Inverse Kinematics Techniques in Computer Graphics: A Survey

Aristidou

Lasenby

Chrysanthou

et al. 2017

Computer Graphics Forum

185

103

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Inverse kinematics (IK) is the use of kinematic equations to determine the joint parameters of a manipulator so that the end effector moves to a desired position; IK can be applied in many areas, including robotics, engineering, computer graphics and video games. In this survey, we present a comprehensive review of the IK problem and the solutions developed over the years from the computer graphics point of view. The paper starts with the definition of forward and IK, their mathematical formulations and explains how to distinguish the unsolvable cases, indicating when a solution is available. The IK literature in this report is divided into four main categories: the analytical, the numerical, the data‐driven and the hybrid methods. A timeline illustrating key methods is presented, explaining how the IK approaches have progressed over the years. The most popular IK methods are discussed with regard to their performance, computational cost and the smoothness of their resulting postures, while we suggest which IK family of solvers is best suited for particular problems. Finally, we indicate the limitations of the current IK methodologies and propose future research directions.

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Section: Numerical Solutionsmentioning

confidence: 99%

Inverse Kinematics Techniques in Computer Graphics: A Survey

Aristidou

Lasenby

Chrysanthou

et al. 2017

Computer Graphics Forum

185

103

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“…Once the 1-DOF agent acquires the goal point, it can choose either to set the elements in [q] it controls immediately, or to interpolate values in-between to set a path the manipulator takes to make contact with the object plane. Instead, 2-DOF sets the path frame-by-frame after the goal point is acquired, using an iterative approach similar to the CyclicCoordinate Descent (CCD) algorithm [25]. The object plane that the end-effector intends to make contact serves as a very useful constraint, assuring that user-set inputs of the upper-arm's roll and elbow-bend (θ 3 ,θ 5 ) will reach the goal point's z-coordinate.…”

Section: -Dof Techniquementioning

confidence: 99%

Enhancing the robot avateering metaphor discreetly with an assistive agent and its effect on perception

Koh¹,

Pfeil²,

LaViola³

2014

The 23rd IEEE International Symposium on Robot and Human Interactive Communication

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We present a modeling approach to develop an agent that assists users discreetly in teleoperation when avateering a robot via an inexpensive motion sensor. Avateering is a powerful metaphor, and can be an effective teleoperating strategy. Avateering a Humanoid Robot (HR) with no wearable device encumberment, such as using the popular Kinect/NUI motion sensor, is also desirable and very promising. However, this control scheme makes it difficult for the slave robot to make contact and interact with objects with high accuracy due to factors such as viewpoint, individually-unique and unilateral human-side control imprecision, and lack of informative tactile feedback. Our research explores the addition of an assistive agent that arbitrates user input without disrupting the overall experience and expectation. Additionally, our agent assists with maintaining a higher level of accuracy for interaction tasks, in our case, a grasping and lifting scenario. Using the Webots robot simulator, we implemented 4 assistive agents to augment the user in avateering the Darwin-OP robot. The agent iterations are described, and results of a user study are presented. We discuss user perception towards the avateering metaphor when enhanced by the agent and also when unassisted, including perceived easiness of the task, responsiveness of the robot, and accuracy.

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“…The Cyclic Coordinate Descent (CCD) technique proposes a heuristic approach to inverse kinematics for planar manipulators, through the iterative adjustment of joint values. Each modification aims at moving the end effector as close as possible to a given target position T .…”

Section: Forward and Inverse Kinematicsmentioning

confidence: 99%

“…This process, known as inverse kinematics, depends heavily on the 3D structure of the robot, and is therefore extremely difficult to automatize. The Cyclic Coordinate Descent (CCD) technique [34] proposes a heuristic approach to inverse kinematics for planar manipulators, through the iterative adjustment of joint values. Each modification aims at moving the end effector as close as possible to a given target position T. Be O N the hypothetical joint located at the end effector, for each joint O i from O N À 1 to O 0 , one of the following two steps may be taken:…”

Section: Inverse Kinematicsmentioning

confidence: 99%

Teaching kinematics with interactive schematics and 3D models

Arnay

Hernández-Aceituno

González

et al. 2017

Comp Applic In Engineering

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In this paper, some computer applications for teaching forward and inverse kinematics in Robotics are presented. These applications, developed in Unity3D and Python, allow both teachers and students to create and manipulate 3D interactive representations of the studied robotic models. The use of these tools has been proved to help students improve their understanding of the geometric transformations and mathematical operations required to solve both forward and inverse kinematics exercises. © 2017 Wiley Periodicals, Inc. Comput Appl Eng Educ 25:420–429, 2017; View this article online at http://www.wileyonlinelibrary.com/journal/cae; DOI

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Inverse Kinematics – Cyclic Coordinate Descent (CCD)

Cited by 50 publications

References 10 publications

Inverse Kinematics Techniques in Computer Graphics: A Survey

Inverse Kinematics Techniques in Computer Graphics: A Survey

Enhancing the robot avateering metaphor discreetly with an assistive agent and its effect on perception

Teaching kinematics with interactive schematics and 3D models

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