A Fast Inverse Kinematics Solver using Intersection of Circles

Ramachandran, Srinivasan; John, Nigel W.

A Fast Inverse Kinematics Solver using Intersection of Circles

Files

033-039.pdf (781.92 KB)

Date

2013

Authors

Ramachandran, Srinivasan
John, Nigel W.

Publisher

The Eurographics Association

Abstract

Inverse Kinematics (IK) calculates the joint angles of an articulated object so that its end effector can be positioned as desired. This paper presents an efficient IK method using a geometric solver based on the intersection of circles. For an articulated object with n joints, our method will position the end-effector accurately and requires only a reverse iteration of (n-2). An intuitive user interface is provided, which automatically keeps the end effector between the maximum and minimum extent of the articulated object. Common problems that can occur with other IK methods are avoided. The algorithm has been implemented using WebGL and Javascript and tested by simulating a human hand, a three joint robot arm and human cycling motion, achieving interactive rates of up to 60 FPS

        @inproceedings{:10.2312/LocalChapterEvents.TPCG.TPCG13.033-039
,
booktitle = {Theory and Practice of Computer Graphics
},
editor = {Silvester Czanner and Wen Tang
},
title = {{A Fast Inverse Kinematics Solver using Intersection of Circles
}},
author = {Ramachandran, Srinivasan and 
John, Nigel W.
},
year = {2013
},
publisher = {The Eurographics Association
},
ISBN = {978-3-905673-98-2
},
DOI = {/10.2312/LocalChapterEvents.TPCG.TPCG13.033-039
}
}