Inverse kinematics using dynamic joint parameters: inverse kinematics animation synthesis learnt from sub-divided motion micro-segments

Huang, Jing; Fratarcangeli, Marco; Ding, Yu; Pélachaud, Catherine

doi:10.1007/s00371-016-1297-x

Cited by 6 publications

(4 citation statements)

References 32 publications

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“…Similarly, Harish et al [HMCB16] extend the DLS method to exploit maximum parallelism by mapping the internal DLS steps to the dataparallel GPU architecture. Huang et al [HFDP16] employ a variation of the SDLS method, while the joint motion parameters are learned automatically from pre-captured motion data that are stored in an octree for fast access. Given the end effectors trajectories, a smooth animation is achieved by parallel filtering of the joint information, allowing the constraints to be learnt dynamically and reducing the required computational time.…”

Section: Parallel Computingmentioning

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: Parallel Computingmentioning

confidence: 99%

Inverse Kinematics Techniques in Computer Graphics: A Survey

Aristidou

Lasenby

Chrysanthou

et al. 2017

Computer Graphics Forum

185

103

View full text Add to dashboard Cite

show abstract

“…The 3D scene represents the training environment, where each trainee is represented by a virtual character that corresponds to their chosen role [17]. Inverse dynamics (IK) animations are employed to simulate the operational actions of the trainees [20], allowing them to observe and understand the operation processes of others within the scene. In addition to formal training sessions, trainees can also utilize the system for extra practice in their free time.…”

Section: System Overall Designmentioning

confidence: 99%

Research on an educational virtual training system for ship life‐saving appliances

Qiu,

Ren,

Wang

et al. 2024

Comp Applic In Engineering

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Life‐saving appliances (LSAs) play a crucial role in maritime emergencies, and seafarers need to undergo rigorous professional training on these appliances to ensure their competence in maritime work. However, traditional teaching and training that mainly rely on real appliances have several limitations. To address these limitations, we have developed a virtual training system that enables multiperson collaborative operation. To guarantee the system's scalability and versatility, the system framework is designed to be modular. In the networking function section, we establish a network architecture and apply state synchronization mechanisms to ensure consistent scenarios across multiusers. Additionally, we propose an interaction management model and an evaluation model for collaborative training and evaluation. Two collaborative training modes are designed to enhance the flexibility of the system. To evaluate the effectiveness of our system, we select 72 trainees to participate in a training and evaluation experiment. The evaluation model is validated by comparing it with expert evaluations. The results show that trainees can gain a better understanding of their roles and responsibilities and accurately remember the collaborative operation sequence. The training effect is positive, indicating that our system can effectively facilitate the teaching and training of LSAs.

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“…Starke et al 21 use a hybrid evolutionary approach to solve inverse kinematics for highly articulated and humanoid robots. Huang et al 22 propose a parallelizable constrained inverse kinematic technique by modeling and using dynamic joint motion parameters, which can be automatically learned from input mocap data. Xidias 23 presents a method for time optimal trajectory planning for a hyper-redundant manipulator, which transforms the trajectory planning problem to a global optimization problem and solve it by a genetic algorithm.…”

Section: Previous Workmentioning

confidence: 99%

“…Therefore, some research in this field have been focused on using the data-driven methods, such as learned methods and deep learning methods that use prelearned configurations to match the end effector's position to generate a feasible posture from the databases. [16][17][18][19][20][21][22][23] A major limitation of those methods is that the robots need large datasets to obtain more accurate inverse kinematic solutions. However, the training data are difficult to generate when the robots work in cluttered environments.…”

Section: Introductionmentioning

confidence: 99%

Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles

Zhao

Jiang

Sun

et al. 2021

International Journal of Advanced Robotic Systems

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Hyper-redundant manipulators have been widely used in the complex and cluttered environment for achieving various kinds of tasks. In this article, we present two contributions. First, we provide a novel algorithm of relating forward and backward reaching inverse kinematic algorithm to velocity obstacles. Our optimization-based algorithm simultaneously handles the task space constraints, the joint limit constraints, and the collision-free constraints for hyper-redundant manipulators based on the generalized framework. Second, we present an extension of our inverse kinematic algorithm to collision avoidance for the hyper-redundant manipulators, where the workspaces may have different types of obstacles. We highlight the performance of our algorithm on hyper-redundant manipulators with various degrees of freedom. The results show that our algorithm has made full use of dexterity of hyper-redundant manipulators in complex environments, enhancing the performance and increasing the flexibility.

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Inverse kinematics using dynamic joint parameters: inverse kinematics animation synthesis learnt from sub-divided motion micro-segments

Abstract: Inverse kinematics using dynamic joint parameters: inverse kinematics animation synthesis learnt from subdivided motion micro-segments

Cited by 6 publications

References 32 publications

Inverse Kinematics Techniques in Computer Graphics: A Survey

Inverse Kinematics Techniques in Computer Graphics: A Survey

Research on an educational virtual training system for ship life‐saving appliances

Collision-free kinematics for hyper-redundant manipulators in dynamic scenes using optimal velocity obstacles

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