Animation of human motion with inverse kinematics using nonlinear programming
Author(s)
Advisor
Güdükbay, UğurDate
2001Publisher
Bilkent University
Language
English
Type
ThesisItem Usage Stats
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Abstract
Animation of articulated figures has always been an interesting subject of computer
graphics due to a wide range of applications, like military, ergonomic design
etc. An articulated figure is usually modelled as a set of segments linked
with joints. Changing the joint angles brings the articulated figure to a new
posture. An animator can define the joint angles for a new posture (forward
kinematics). However, it is difficult to estimate the exact joint angles needed
to place the articulated figure to a predefined position. Instead of this, an
animator can specify the desired position for an end-effector, and then an algorithm
computes the joint angles needed (inverse kinematics). In this thesis, we
present the implementation of an inverse kinematics algorithm using nonlinear
optimization methods. This algorithm computes a potential function value between
the end-effector and the desired posture of the end-effector called goal.
Then, it tries to minimize the value of the function. If the goal cannot be
reached due to constraints then an optimum solution is found and applied by
the algorithm. The user may assign priority to the joint angles by scaling initial
values estimated by the algorithm. In this way, the joint angles change
according to the animator’s priority