An Efficient Energy Transfer Inverse Kinematics Solution

  title={An Efficient Energy Transfer Inverse Kinematics Solution},
  author={Jing Huang and Catherine Pelachaud},
In this paper, we present a fast and easy-to-implement locally physics-based Inverse Kinematics(IK) method. Our method builds upon a mass-spring model and relies on force interactions between masses. Joint rotations are computed using the closed-form method with predefined local axis coordinates. Combining these two approaches offers convincing visual quality results obtained with high time performance. Our IK solver is suitable for multiple constraints application and constrained 3D humanoid… CONTINUE READING

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