By Topic

Fast inverse kinematics and kinetics solver for human-like figures

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Kulpa, R. ; SIAMES Project, IRISA, Rennes ; Multon, F.

Applying complex motions to humanoids involves to deal with different kinematic, kinetic and dynamic constraints. Although dynamics is more accurate to simulate humanoids, inverse kinematics is an alternative to rapidly calculate plausible movements required for motion planning. Humanoids motion planning that deals with numerous degrees of freedom requires numerous calls to inverse kinematics solvers that make computation time increase significantly. We propose a new approach that is able to solve complex character positioning while dealing with the center of mass position with very few computation time. An iterative hierarchical process is proposed: analytical solutions are proposed for groups of body segments while a higher solver is applied to drive the whole body and is repeated until stability is reached. With such a system, we are able to animate from 22 to 177 characters at 30 Hz on a classical P4 computer

Published in:

Humanoid Robots, 2005 5th IEEE-RAS International Conference on

Date of Conference:

5-5 Dec. 2005