Proceedings ArticleDOI
A computational technique for inverse kinematics
William A. Wolovich,H. Elliott +1 more
- Vol. 23, Iss: 23, pp 1359-1363
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This article is published in Conference on Decision and Control.The article was published on 1984-12-01. It has received 307 citations till now. The article focuses on the topics: Inverse kinematics & Kinematics equations.read more
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Journal ArticleDOI
A solution algorithm to the inverse kinematic problem for redundant manipulators
TL;DR: Based on a recently proposed algorithmic solution technique, the inverse kinematic problem for redundant manipulators is solved and the kinematics of the manipulator is appropriately augmented to include mentioned constraints; the result is an efficient, fast, closed-loop algorithm.
Journal ArticleDOI
Selectively Damped Least Squares for Inverse Kinematics
Samuel R. Buss,Jin-Su Kim +1 more
TL;DR: This work introduces two methods for the inverse kinematics of multibodies with multiple end effectors called selectively damped least squares (SDLS), which adjusts the damping factor separately for each singular vector of the Jacobian singular value decomposition based on the difficulty of reaching the target positions.
Journal ArticleDOI
FABRIK: A fast, iterative solver for the Inverse Kinematics problem
Andreas Aristidou,Joan Lasenby +1 more
TL;DR: 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.
Journal ArticleDOI
Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy
TL;DR: This article presents new closed-loop schemes for solving the inverse kinematics of constrained redundant manipula tors that use the Jacobian pseudoinverse and are shown to converge using theJacobian transpose.
Dissertation
Inverse kinematics and geometric constraints for articulated figure manipulation
TL;DR: This work investigates the use of inverse kinematics and simple geometric constraints as tools for the animator and describes an implementation of one of these algorithms within an existing figure animation editor, which provides constrained inverseKinematic figure manipulation for the creation of keyframes.