NDLI: Evolutionary motion inverse kinematics

Content Provider	IEEE Xplore Digital Library
Author	Millard, J.
Copyright Year	2007
Description	Author affiliation: Univ. of Adelaide, Adelaide (Millard, J.)
Abstract	In disciplines, such as robotics and computer graphics (CG) or industries such as, game development, various tasks involve the manipulation of articulated structures in interesting and complex ways. This may involve controlling robotic manipulators or perhaps posing the skeleton of a virtual human. When performed manually, the task of rotating each individual joint in order to produce a desired pose can be tedious and time consuming. The process of rotating each joint independently is known as forward kinematics (FK). One way to simplify this process is to automatically calculate the angles required for a given joint (known as the end-effector) to reach a goal position - this process is known as inverse kinematics (IK). In this paper an evolutionary algorithm (EA) is proposed as a solution to inverse kinematics. Several extensions are also proposed to allow extra constraints to be included, such as obstacle avoidance and angular joint limits. This approach is called Evolutionary Motion IK (E-MOTION IK).
Starting Page	3671
Ending Page	3678
File Size	272909
Page Count	8
File Format	PDF
ISBN	9781424413393
DOI	10.1109/CEC.2007.4424948
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-25
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Joints Service robots Computer graphics Character generation Computer industry Toy industry Robot control Manipulators Skeleton
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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