Inverse kinematics positioning using nonlinear programming for highly articulated figures

@article{Zhao1994InverseKP,
  title={Inverse kinematics positioning using nonlinear programming for highly articulated figures},
  author={Jianmin Zhao and Norman I. Badler},
  journal={ACM Trans. Graph.},
  year={1994},
  volume={13},
  pages={313-336}
}
An articulated figure is often modeled as a set of rigid segments connected with joints. Its configuration can be altered by varying the joint angles. Although it is straight forward to compute figure configurations given joint angles (forward kinematics), it is more difficult to find the joint angles for a desired configuration (inverse kinematics). Since the inverse kinematics problem is of special importance to an animator wishing to set a figure to a posture satisfying a set of positioning… CONTINUE READING

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