Browsing by Subject "inverse kinematics"
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Item Open Access Animation of human motion with inverse kinematics using nonlinear programming(Bilkent University, 2001) Abalı, A. SezginAnimation 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 priorityItem Open Access Human motion control using inverse kinematics(Bilkent University, 2003) Memişoğlu, AydemirArticulated figure animation receives particular attention of the computer graphics society. The techniques for animation of articulated figures range from simple interpolation between keyframes methods to motion-capture techniques. One of these techniques, inverse kinematics, which is adopted from robotics, provides the animator the ability to specify a large quantity of motion parameters that results with realistic animations. This study presents an interactive hierarchical motion control system used for the animation of human figure locomotion. We aimed to develop an articulated figure animation system that creates movements , like goal-directed motion and walking by using motion control techniques at different levels. Inverse Kinematics using Analytical Methods (IKAN) software, which was developed at the University of Pennsylvania, is utilized for controlling the motion of the articulated body using inverse kinematics.Item Open Access Realistic rendering of a multi-layered human body model(Bilkent University, 2003) Yeşil, Mehmet ŞahinIn this thesis study, a framework is proposed and implemented for the realistic rendering of a multi-layered human body model while it is moving. The proposed human body model is composed of three layers: a skeleton layer, a muscle layer, and a skin layer. The skeleton layer, represented by a set of joints and bones, controls the animation of the human body model using inverse kinematics. Muscles are represented by action lines, which are defined by a set of control points. The action line expresses the force produced by a muscle on the bones and on the skin mesh. The skin layer is modeled in a 3D modeler and deformed during animation by binding the skin layer to both the skeleton layer and the muscle layer. The skin is deformed by a two-step algorithm according to the current state of the skeleton and muscle layers. In the first step, the skin is deformed by a variant of the skinning algorithm, which deforms the skin based on the motion of the skeleton. In the second step, the skin is deformed by the underlying muscular layer. Visual results produced by the implementation is also presented. Performance experiments show that it is possible to obtain real-time frame rates for a moderately complex human model containing approximately 33,000 triangles on the skin layer