کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
442430 692242 2011 18 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
FABRIK: A fast, iterative solver for the Inverse Kinematics problem
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر گرافیک کامپیوتری و طراحی به کمک کامپیوتر
پیش نمایش صفحه اول مقاله
FABRIK: A fast, iterative solver for the Inverse Kinematics problem
چکیده انگلیسی

Inverse Kinematics is defined as the problem of determining a set of appropriate joint configurations for which the end effectors move to desired positions as smoothly, rapidly, and as accurately as possible. However, many of the currently available methods suffer from high computational cost and production of unrealistic poses. In this paper, a novel heuristic method, called Forward And Backward Reaching Inverse Kinematics (FABRIK), is described and compared with some of the most popular existing methods regarding reliability, computational cost and conversion criteria. FABRIK avoids the use of rotational angles or matrices, and instead finds each joint position via locating a point on a line. Thus, it converges in few iterations, has low computational cost and produces visually realistic poses. Constraints can easily be incorporated within FABRIK and multiple chains with multiple end effectors are also supported.

Figure optionsDownload as PowerPoint slideHighlights
► FABRIK is a simple, fast, iterative Inverse Kinematics solver.
► It supports most joint types and chain classes.
► FABRIK supports multiple end effectors and it can handle end effector orientations.
► It produces visually smooth postures without oscillations or discontinuities.
► FABRIK can reach the desired position with very low computational cost.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Graphical Models - Volume 73, Issue 5, September 2011, Pages 243–260
نویسندگان
, ,