{"title":"稳定高效的微分逆运动学","authors":"J. P. Lewis, Nebojsa Dragosavac","doi":"10.1145/1899950.1899979","DOIUrl":null,"url":null,"abstract":"Inverse kinematics (IK) is an essential algorithm in the computer animation of articulated figures. We propose a differential IK algorithm combining ideas from the pseudoinverse and Jacobian transpose techniques that achieves the efficiency of the former technique while avoiding its inherent instability.","PeriodicalId":354911,"journal":{"name":"ACM SIGGRAPH ASIA 2010 Sketches","volume":"20 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-12-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Stable and efficient differential inverse kinematics\",\"authors\":\"J. P. Lewis, Nebojsa Dragosavac\",\"doi\":\"10.1145/1899950.1899979\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Inverse kinematics (IK) is an essential algorithm in the computer animation of articulated figures. We propose a differential IK algorithm combining ideas from the pseudoinverse and Jacobian transpose techniques that achieves the efficiency of the former technique while avoiding its inherent instability.\",\"PeriodicalId\":354911,\"journal\":{\"name\":\"ACM SIGGRAPH ASIA 2010 Sketches\",\"volume\":\"20 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-12-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"ACM SIGGRAPH ASIA 2010 Sketches\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/1899950.1899979\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"ACM SIGGRAPH ASIA 2010 Sketches","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/1899950.1899979","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Stable and efficient differential inverse kinematics
Inverse kinematics (IK) is an essential algorithm in the computer animation of articulated figures. We propose a differential IK algorithm combining ideas from the pseudoinverse and Jacobian transpose techniques that achieves the efficiency of the former technique while avoiding its inherent instability.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
